JP5813981B2 - EEG signal processing device for rehabilitation and rehabilitation system - Google Patents

Description

The present invention, during rehabilitation by exercise therapy, rehabilitation electroencephalogram signal processing apparatus used to assist the voluntary movement, and relates to a rehabilitation system.

  Traditionally, if voluntary movements are impossible or reduced due to paralysis of the body or reduced motor function due to a brain disease such as a stroke or an accident, the function of the voluntary movement is restored. Therefore, various rehabilitation is performed. In this rehabilitation, a method for exercising a damaged part to recover a motor function is called exercise therapy and is widely performed.

  In this exercise therapy, it is known that it is more effective to move the body under various consciousness and assistance, compared to the case where the patient moves the body by himself / herself. For example, when a hemiplegic patient performs an exercise of gripping an object using the hand on the paralyzed side, the patient can perform an exercise of gripping and assist the movement from the outside, thereby improving the rehabilitation effect.

  This exercise therapy is generally performed by a medical staff such as a physical therapist accompanying the patient and moving the rehabilitation target part according to the patient's movement to assist the movement of the patient. There are many. In recent years, exercise therapy using a rehabilitation apparatus has also been adopted.

  For example, Patent Document 1 discloses an operation support apparatus that includes an actuator suspended between a plurality of mounting portions and a sensor that detects a muscle movement, and controls the actuator based on the detected muscle movement. ing. Patent Document 2 discloses a rehabilitation apparatus in which the operation is controlled by force control or position control based on sensing information of a force sensor or a position / angle sensor. A technique for driving the lower limb drive unit so as to change the maximum bending angle of the crotch, knees, and ankle joints according to the measured muscle hardness is disclosed.

JP 2008-12358 A JP 2004-081576 A

Junichi Ushiba, Brain MachineInterface rehabilitation application using scalp EEG, The Japanese Journal of Rehabilitation Medicine, 2010, VOL. 47, NO. 2, pp. 79-83

  By the way, in order to effectively perform this exercise therapy with assistance, it is necessary to assist the voluntary movement with good timing in accordance with the voluntary movement of the patient. However, in the case of manual assistance such as a physical therapist, it is necessary for the assistant to adjust the timing while watching the patient's voluntary movement. For this reason, skill is required to provide assistance in a timely manner. Furthermore, even for a severe patient who is weak or unable to voluntarily exercise, it was extremely difficult to achieve the timing even for the skilled patient. . In addition, in the devices such as Patent Document 1 and Patent Document 2 described above, since the device is driven by detecting the movement and hardness of the muscle, voluntary movement by the patient is necessary, and it is so weak that voluntary movement is not detected. In some cases, it was not effective for severe patients who did not move at all.

The present invention has been made in view of such circumstances, and can assist voluntary movement with good timing. In particular, even a severe patient who is weak or unable to voluntarily exercise voluntary movement at an appropriate timing. It is an object of the present invention to provide an electroencephalogram signal processing apparatus for rehabilitation and a rehabilitation system that can assist exercise and thereby obtain a high rehabilitation effect.

  The inventor of the present application eagerly sought a method capable of assisting voluntary movement at an appropriate timing in rehabilitation of exercise therapy. As a result, when the patient performs voluntary movements or recalls voluntary movements, changes in the electroencephalogram occur due to event-related desynchronization, so timing the voluntary movements by detecting this change and linking the rehabilitation device. It is possible to assist well, and the EEG changes not only when voluntary movements are performed, but also when recalled, so it is appropriate even for severe patients with weak or impossible voluntary movements. We thought that it would be possible to assist exercise at the timing. Further, the inventors further conducted experiments and verifications, for example, using electroencephalograms collected from the entire brain, detecting changes in electroencephalograms during voluntary movement for all frequency components, and linking the rehabilitation device. However, the rehabilitation effect is not obtained at all, but for the rehabilitation of the left hand, for example, the brain wave is collected from the vicinity of the motor area corresponding to the rehabilitation target area, such as collecting the brain wave from the vicinity of the left hand motor area, The inventors have newly found that a very high rehabilitation effect can be obtained by detecting a change in the electroencephalogram limited to a predetermined frequency component and interlocking the rehabilitation device, thereby completing the present invention.

An electroencephalogram signal processing apparatus for rehabilitation according to the present invention is an electroencephalogram signal processing apparatus for rehabilitation that processes an electroencephalogram signal for rehabilitation by exercise therapy, and an electroencephalogram collected from the vicinity of a motor area corresponding to a rehabilitation target region of the brain. A detection unit that detects a time change in the signal strength of a predetermined frequency component for the signal, and a time change in the signal strength of the predetermined frequency component is detected by the detection unit, and the signal strength is a signal at the time of voluntary exercise from a resting signal strength range When the time change of transition to the intensity range is detected, outputs a control signal for controlling so as to auxiliary operation of rehabilitation exercise assisting device for assisting the voluntary movement of the body, the signal strength from the voluntary movement signal intensity range When a change in the time of transition to the resting signal intensity range is detected, the rehabilitation exercise assisting device A control signal output unit for controlling to return to the original auxiliary operation, comprising an electrode pad to be worn on the head for taking the electroencephalogram signal, the electrode pad has a base, projecting from the base It is characterized by comprising a plurality of protruding electrodes and a gel whose conductivity is conductive.
An electroencephalogram signal processing apparatus for rehabilitation according to the present invention is an electroencephalogram signal processing apparatus for rehabilitation that processes an electroencephalogram signal for rehabilitation by exercise therapy, and an electroencephalogram collected from the vicinity of a motor area corresponding to a rehabilitation target region of the brain. A detection unit that detects a time change in the signal strength of a predetermined frequency component for the signal, and a time change in the signal strength of the predetermined frequency component is detected by the detection unit, and the signal strength is a signal at the time of voluntary exercise from a resting signal strength range When the time change of transition to the intensity range is detected, outputs a control signal for controlling so as to auxiliary operation of rehabilitation exercise assisting device for assisting the voluntary movement of the body, the signal strength from the voluntary movement signal intensity range When a change in the time of transition to the resting signal intensity range is detected, the rehabilitation exercise assisting device A control signal output unit for controlling to return to the original auxiliary operation, comprising an electrode pad to be worn on the head for taking the electroencephalogram signal, the electrode pad has a base, projecting from the base A plurality of protruding electrodes, and a conductive layer holding a conductive liquid in a flexible material having water retention, and the conductive layer fills at least a space between the plurality of protruding electrodes, The tip is buried in the conductive layer or is flush with the surface of the conductive layer.

  Further, the rehabilitation system of the present invention comprises the rehabilitation electroencephalogram signal processing device and a rehabilitation exercise assisting device for assisting the voluntary exercise for functional recovery of the body's voluntary exercise, the rehabilitation exercise assisting device comprising: The operation is controlled by the control signal output from the electroencephalogram signal processing apparatus for rehabilitation.

  As described above, the electroencephalogram changes when voluntary movement is performed or when voluntary movement is recalled. According to the present invention, with respect to the electroencephalogram collected from the user, the signal intensity of the predetermined frequency component is changed with time. Based on the detected time change, the operation of the rehabilitation exercise assisting device is controlled. Thereby, the auxiliary device for rehabilitation operates according to the change of the electroencephalogram accompanying the voluntary movement, and the voluntary movement can be assisted with good timing. Since EEG changes not only when voluntary movements are performed, but also when recalling voluntary movements, it can be timely assisted, especially for severe patients with weak or impossible voluntary movements. It becomes possible. Here, as the electroencephalogram signal, an electroencephalogram signal collected from the vicinity of the motor area corresponding to the rehabilitation target region is used, and further, it is very limited to detect only a predetermined frequency component in the electroencephalogram signal. Is important to. As described above, for example, even if time changes are detected for all frequency components of an electroencephalogram signal collected from the entire brain, no rehabilitation effect can be obtained, but an electroencephalogram signal from the vicinity of the motor area corresponding to the rehabilitation target region is not obtained. This is because a very high rehabilitation effect can be obtained by detecting a change in time by limiting to a predetermined frequency component in the electroencephalogram signal. This was newly discovered by the inventors and realized as an apparatus for the first time.

For example, rehabilitation electroencephalogram signal processing apparatus of the present invention, Ru includes a frequency setting unit that sets the value of the frequency of the predetermined frequency component to be detected in the time change in the detector unit.

Which frequency component changes in association with voluntary movement depends on the user's attributes (age, sex, etc.), the state of the disorder, the site of the disorder, individual differences, and other individual specific factors. This inventors have Ri event der the newly found through experiments and the like, according to which, since it is possible to set the value of the frequency of the predetermined frequency component to be detected by the frequency setting unit, they can correspond to various cases It becomes.

For example, rehabilitation electroencephalogram signal processing apparatus of the present invention, in detecting the temporal change of the signal intensity of a predetermined frequency component in the detector, Ru a detection condition setting unit that sets a detection condition.

How the signal intensity of a given frequency component changes with voluntary movement depends on the user's attributes (age, gender, etc.), the state of the disorder, the site of the disorder, individual differences, and other specific details. It depends on various factors. This inventors have Ri event der the newly found through experiments and the like, according to which, since it is possible to set the detection condition by the detection condition setting unit, and can cope with various cases.

The electrode pad is an electrode pad that is used together with the electroencephalogram signal processing apparatus for rehabilitation and is mounted on a head for collecting the electroencephalogram signal, and a base and a plurality of protruding electrodes protruding from the base And the dispersion medium is composed of a conductive gel, or a conductive material holding a conductive liquid in a flexible material having water retention, and the conductive layer is at least between the plurality of protruding electrodes. And the tip of the protruding electrode is buried in the conductive layer or is flush with the surface of the conductive layer. Here, the gel loses its fluidity due to the highly viscous dispersoid and becomes a solid as a whole system, and the dispersion medium exudes to the outside by the pressing force.

  In order to collect an electroencephalogram signal used in the rehabilitation electroencephalogram signal processing apparatus, an amplifying apparatus capable of amplifying a potential of the order of several microvolts is required. However, when a conventional electrode is used, the impedance between the scalp and the electrode is Since it is several hundred megaohms / 10 Hz, it has been difficult to collect useful electroencephalogram signals. For this reason, in order to collect an electroencephalogram signal useful for the electroencephalogram signal processing apparatus for rehabilitation of the present invention, it is an important issue to reduce the impedance between the scalp and the electrode. According to the present invention, when the electrode pad is moved while being pressed against the head, the flexible conductive layer is deformed, and the tips of the plurality of protruding electrodes protrude from the conductive layer, and the hair is scraped off and securely attached to the scalp. To touch. At this time, since the hair is sandwiched between the conductive layer and the scalp, the surface of the conductive layer becomes concave due to the thickness of the hair, and there is a gap between the head and the conductive layer. A conductive dispersion medium or conductive liquid that oozes from the layer is filled. As a result, not only the projecting electrodes but also the conductive layer and the conductive dispersion medium or the conductive liquid that has exuded can be energized, the impedance is reduced, and an electroencephalogram signal that is useful for the rehabilitation electroencephalogram signal processing apparatus is collected. Can do.

According to the rehabilitation electroencephalogram processing apparatus and the rehabilitation system of the present invention, the auxiliary device for rehabilitation can be interlocked according to the time change of the signal intensity of the predetermined frequency component of the electroencephalogram signal, so that the voluntary movement is assisted at an appropriate timing. It becomes possible to do. In particular, in the case of severe patients with weak or impossible voluntary movements, it is extremely difficult to achieve timing with human assistance, and it is effective with conventional devices that operate by detecting muscle movement. However, according to the present invention, since the rehabilitation assisting device can be operated based on the change in the electroencephalogram, it is possible to assist voluntary movement at an appropriate timing even for such a severe patient. . In the present invention, a very high rehabilitation effect can be obtained by collecting an electroencephalogram signal from the motor area corresponding to the rehabilitation target region and detecting a change limited to a predetermined frequency component in the electroencephalogram signal. .

According to the electrode pad, not only the protruding electrodes is the same even in the energizable by a conductive dispersant or conductive liquid exuded from the conductive layer and the conductive layer is filled in the meantime, be reduced impedance can, a suitable electrode pad for collecting EEG signals used rehabilitation electroencephalogram signal processing apparatus of the present invention.

It is a figure which shows the structure of the rehabilitation system shown as 1st embodiment of this invention. It is a figure which shows an example of the exercise assistance apparatus for rehabilitation shown as embodiment of this invention. It is a figure which shows the structure of the rehabilitation system shown as 2nd embodiment of this invention. It is a figure which shows the structure of the rehabilitation system shown as 3rd embodiment of this invention. It is explanatory drawing explaining the electrode pad shown as embodiment of this invention from the side surface side, (a) is the example, (b) is a figure which shows another example. (A) is explanatory drawing explaining the use condition of the electrode pad of the said embodiment, (b) is the partially expanded view. FIG. 6 is a diagram showing the arrangement of electrodes in Experiment 1. FIG. 10 is an explanatory diagram for explaining the contents of a task in Experiment 1; It is a figure which shows the experimental result at the time of the left hand grip movement recall in Experiment 1, (a) is the signal strength data of the electroencephalogram signal collected from right hand motor area vicinity, (b) is the electroencephalogram collected from the left hand motor area vicinity. It is data of signal strength of a signal. It is a figure which shows the experimental result at the time of right hand grip movement recall in Experiment 1, (a) The signal strength data of the electroencephalogram signal collected from the right hand motor area vicinity, (b) The electroencephalogram collected from the left hand motor area vicinity. It is data of signal strength of a signal. It is a figure which shows the experimental result at the time of voluntary movement recollection which moves the leg in Experiment 1, (a) is the signal strength data of the electroencephalogram signal collected from the vicinity of the right hand motor area, and (b) is collected from the vicinity of the left hand motor area. This is the signal strength data of the electroencephalogram signal. In Experiment 1 and Experiment 2, it is explanatory drawing explaining the derivation | leading-out method of the signal strength of the electroencephalogram signal of each data. FIG. 6 is a diagram showing the arrangement of electrodes in Experiment 2. It is explanatory drawing explaining the content of the task in Experiment. It is a figure which shows the experimental result at the time of the left hand grip movement recall in Experiment 2, (a) is the signal strength data of the electroencephalogram signal collected from the right hand motor area vicinity, (b) is the electroencephalogram collected from the left hand motor area vicinity. It is data of signal strength of a signal. It is explanatory drawing explaining the electrode pad used for Experiment 3 and Experiment 4, (a) is an electrode pad used as a comparison object, (b) is a figure which shows the electrode pad of this invention. It is a figure which shows the result of the experiment 3. FIG. It is a figure which shows the result of the experiment 4.

<First embodiment>
Specific embodiments to which the present invention is applied will be described in detail below with reference to the drawings. The present embodiment is a rehabilitation system for performing rehabilitation by exercise therapy for a patient whose body part is paralyzed or voluntary movement is reduced or impossible due to a brain disease or an accident. Here, a system used for rehabilitation of a patient whose gripping movement is difficult due to left finger paralysis will be described as an example, but it is not limited to this, for example, shoulder, elbow, upper arm, waist, lower limb, upper limb, etc. Anything can be used as long as it is used for rehabilitation of voluntary movements of the body.

  FIG. 1 is an explanatory diagram for explaining the rehabilitation system S1 of the present embodiment. The rehabilitation system S1 includes a rehabilitation electroencephalogram signal processing apparatus 10 and a rehabilitation exercise assisting apparatus 20.

  The electroencephalogram signal processing apparatus 10 for rehabilitation includes a detection unit 11 and a control signal output unit 12.

  The detection unit 11 has a function of detecting a temporal change in signal intensity of a predetermined frequency component for the collected electroencephalogram signal.

  Here, it is important that the electroencephalogram signal is an electroencephalogram signal collected from the vicinity of the motor area corresponding to the rehabilitation target region. This is because the rehabilitation effect cannot be obtained unless an electroencephalogram collected from the vicinity of the motor area corresponding to the rehabilitation target region is used. This is an event newly found by the inventors of the present application through experiments and the like. In the present embodiment, since the rehabilitation target site is the left hand, an electroencephalogram signal collected from the vicinity of the left hand motor area is used.

  The electroencephalogram signal is collected by an electroencephalogram acquisition means installed on the user's head. For example, a general electroencephalogram signal collecting electrode composed of a silver-silver chloride electrode having a diameter of about 1 cm may be used, but it is limited to this as long as it can acquire an electroencephalogram signal. Absent. However, in order to acquire an electroencephalogram signal with high accuracy, it is preferable to use the electrode pad of the present invention described later.

  This electroencephalogram signal is amplified and A / D converted, and the electroencephalogram signal converted into digital data is frequency-analyzed to obtain signal intensity data (frequency time domain spectrum data) indicating the signal intensity of each frequency component. The signal intensity data may be obtained by a digital electroencephalograph prepared as an external device, or may be obtained by an internal function of the rehabilitation electroencephalogram signal processing apparatus 10.

  When prepared as an internal function of the electroencephalogram signal processing apparatus 10 for rehabilitation, measurement for measuring the intensity of the frequency component by analyzing the electroencephalogram signal acquired through the electroencephalogram acquisition means arranged on the head H of the user This is realized as part 13. Specifically, the measurement unit 13 includes an amplification unit 13a, an A / D conversion unit 13b, a storage unit 13c, and an analysis unit 13d. When an electroencephalogram signal is input to the signal processing unit 13 in real time and in time series, the amplification unit 13a The AEG signal amplified by the amplifying unit 13a is converted into a digital format by the A / D conversion unit 13b, and converted into a digital format by the A / D conversion unit 13b. Is accumulated in the accumulating unit 13c, and the electroencephalogram signal accumulated in the accumulating unit 13c is frequency-analyzed by the analyzing unit 13d to generate signal intensity data indicating the signal intensity of each frequency component. The analysis unit 13d reads the electroencephalogram signal as digital data stored in the storage unit 13c for a predetermined time at a predetermined sampling period, and performs frequency analysis such as FFT and MEM in time series for each frequency component. Thus, the signal intensity is obtained, and power spectrum data in the frequency time domain is generated. Note that the sampling period only needs to be a level that ensures real-time processing and does not cause aliasing.

  The measurement unit 13 may be prepared as a part of an external device (electroencephalograph). In this case, an electroencephalograph capable of measuring the signal intensity for each frequency component in time series is used, and the electroencephalograph is connected to the rehabilitation electroencephalogram signal processing apparatus 10 and the measured value (frequency) output from the electroencephalograph Spectral data in the time domain) is input to the rehabilitation electroencephalogram signal processing apparatus 10 in real time and in time series. The input measurement value is stored in a storage unit realized by a memory or the like.

  Thus, the signal intensity data for each frequency component of the electroencephalogram signal obtained by the electroencephalograph prepared as an external device or the measurement unit 13 prepared as an internal function of the rehabilitation electroencephalogram signal processing apparatus 10 is real-time. And it is handed over to the detection part 11 in time series.

  The detection unit 11 has a function of detecting a temporal change in the signal intensity of a predetermined frequency component using the signal intensity data for each frequency component delivered. Here, it is important that the time change detection target is limited to a predetermined frequency component. This is because it is an electroencephalogram signal collected from the vicinity of the motor area corresponding to the rehabilitation target region, and a high rehabilitation effect cannot be obtained unless the electroencephalogram signal is limited to a predetermined frequency component. This is an event newly found by the inventor of the present application. The frequency value of the predetermined frequency component may be determined according to the case. This depends on the user's attributes (age, gender, etc.), the state of the disorder, the site of the disorder, individual differences, and other individual specific factors. Because it is different.

  The detection in the detection part 11 is performed as follows, for example. In this embodiment, when the user performs a gripping motion or recalls from a resting state, the signal intensity of the predetermined frequency component shows a lower value than at resting, and when the gripping state is released and the resting state is reached, the predetermined frequency component The signal intensity of the component shows a higher value than that at the time of grasping movement or grasping movement. This is because nerve cells in the vicinity of the left hand motor area are synchronously active at rest, but asynchronously at the time of grasping movement or recollecting the grasping movement, and the signal intensity of a specific frequency component decreases. Therefore, the detection unit 11 extracts the signal intensity of the predetermined frequency component from the signal intensity data received in real time and time series as described above, and the signal intensity is within the range of the signal intensity at the time of voluntary movement or voluntary movement recall ( Hereinafter, it is constantly monitored whether it is a signal intensity range during voluntary exercise or a signal intensity range during rest (hereinafter referred to as a signal intensity range during rest). And the detection part 11 detects the change from the signal strength range of the signal strength at rest to the signal strength range at the time of voluntary exercise as a time change of the signal strength when shifting from the resting state to the voluntary exercise state, and voluntary exercise. A change from the time signal strength range to the resting signal strength range is detected as a time change of the signal strength when the voluntary movement state shifts to the resting state.

  More specifically, the detection unit 11 uses a boundary value between the resting signal intensity range and the voluntary movement signal intensity range as a threshold value, and when the signal intensity falls below the threshold value, changes from the resting state to the voluntary movement or voluntary movement recall state. Is detected as a time change in the signal intensity when the voluntary movement or the voluntary movement recalling state is changed to the resting state. The threshold value may be determined in advance, or an appropriate threshold value may be set for each user. Further, the threshold value may be a ratio (%) of the signal intensity during voluntary exercise with respect to the average resting signal intensity by calculating an average value by measuring the resting signal intensity a plurality of times. In this case, the storage unit stores the average resting signal strength and the threshold value (the ratio of the signal strength during voluntary exercise (%) to the average resting signal strength) by automatic calculation or human input. Become. And the detection part 11 calculates the ratio of the signal intensity at the time of voluntary exercise | movement with respect to an average resting intensity | strength signal, if the data of signal intensity | strength data are received with reference to the average resting signal intensity | strength memorize | stored in the memory | storage part, A time change is detected by comparing the calculated ratio with a threshold value (ratio of the signal intensity during voluntary exercise to the average resting signal intensity). In this case, the threshold value is usually set between 5% and 30%, but is not limited thereto, and may be set as appropriate according to the degree of training of the patient and the like. The threshold setting method is not limited to this, and various methods used for pattern recognition can be used. For example, a method such as Linear Discriminant Analysis (LAD) or Support Vector Machine (SVM) may be used, the signal strength value may be set directly, the resting signal strength range and voluntary movement Anything can be used as long as the boundary with the signal intensity range can be determined.

  The predetermined frequency component may be a single frequency component (for example, 10 hertz), a plurality of frequency components (for example, 10 hertz and 25 hertz), or a frequency component (for example, a predetermined frequency band) 5 to 15 hertz and 20 to 30 hertz) may be used, and a frequency component that can accurately detect a time change may be used. For example, when detecting a time change of a frequency component included in a predetermined frequency band, the detection unit 11 is rested when the signal intensity of any frequency component in the frequency band falls within the signal intensity range during voluntary movement. Detected as time change of signal intensity when transitioning from state to voluntary movement or voluntary movement recall state, and when signal intensity of all frequency components is within resting signal intensity range, voluntary movement or voluntary movement recall state to rest state It is detected as a change in signal intensity over time.

Since the time change of the signal intensity varies depending on the exercise site and the manner of exercise, the detection by the detection unit 11 may be performed by a detection method corresponding to the change. For example, in voluntary movement or voluntary movement recall from a resting state, the signal intensity of the electroencephalogram signal changes from low to high, and when the voluntary movement ends and returns to the resting state, the signal intensity of the electroencephalogram signal increases from high. Since it changes to low, the detection part 11 will detect as a time change of the signal strength when it changes from a resting state to voluntary movement or voluntary movement recall state, when a frequency component becomes more than a threshold value, and a frequency component is less than a threshold value And a change in signal strength over time when the state transitions from the voluntary movement or the voluntary movement recall state to the resting state.

  The control signal output unit 12 has a function of outputting a control signal for controlling the operation of the rehabilitation exercise assisting device 20 when the detection unit 11 detects a temporal change in the signal intensity of the predetermined frequency component. For example, when the signal intensity of the control signal output unit 12 changes from the resting signal intensity range to the voluntary movement signal intensity range (below the threshold value in the present embodiment) is detected by the detection unit 11. Then, a control signal (control signal for rotating a motor 22a1 described later) by rotating the rehabilitation exercise assisting device 20 from the initial posture (with the palm open) to a gripping posture is output, and the signal intensity is optionally determined by the detection unit 11. When a time change from the signal intensity range during exercise to the signal intensity range during rest (exceeding the threshold value in the present embodiment) is detected, a control signal (described later) sets the rehabilitation exercise assisting device 20 from the gripping posture to the initial posture. Control signal for reversely rotating the motor 22a1 to be rotated by a predetermined angle. That is, the control signal output unit 12 selectively outputs a control signal according to the detected time change.

  When the detection unit 11, the control signal output unit 12, and the measurement unit 13 are configured as a part of the electroencephalogram signal processing apparatus 10 for rehabilitation, the amplification unit 13a, the A / D conversion unit 13b, and the analysis unit 13d are, for example, It is implemented as a program that can be executed using hardware such as a CPU (Central Processing Unit) and memory in a computer, or a dedicated processor such as a DSP (Digital Signal Processor) mounted on an expansion board that can be mounted on the computer. In addition, the storage unit 13c uses a hard disk or other various storage media that can be built in or externally attached to a device such as a computer that implements the functions of the detection unit 11 and the control signal output unit 12. Can be configured.

  The rehabilitation exercise assisting device 20 has a function of assisting voluntary movement of the rehabilitation target site, and for example, a joint is bent by moving a mounting unit mounted on the rehabilitation target site by a driving unit such as a motor or an actuator.・ It is intended to assist voluntary movement by extending. An example is shown in FIG. The rehabilitation exercise assisting device 20 is used for a patient who has difficulty in gripping motion, and is used to perform gripping exercise recovery training, and includes a mounting portion 21 and a drive portion 22. For ease of understanding, FIG. 2 shows a state where the rehabilitation assisting device 20 is attached to the hand Hn.

  The mounting portion 21 is mounted on a rehabilitation target site, and is composed of a plurality of members that are connected to each other and that can move the connecting portion. In this Embodiment, it mounts | wears with the hand Hn and is provided with the mounting part 1st member 21a and the mounting part 2nd member 21b. The mounting portion first member 21a is a plate that covers the palm from the wrist, and is provided with a first finger hole 21a1 into which the first finger is inserted. In addition, in order to raise the freedom degree of movement of the hand Hn, the back side of the hand has an opening 21a2, and the hand Hn is not covered. The mounting portion second member 21b is a plate that integrally supports the second to fifth fingers. This mounting part second member 21b is configured by a plate that is curved in an approximately elliptical shape so as to cover the outer periphery of the second finger to the fifth finger, and when these four fingers are inserted inside, While supporting a finger from the palm side, the tip of the finger protrudes to the outside. The mounting portion first member 21a and the mounting portion second member 21b are in contact with and away from each other via a power transmission portion (specifically, the power transmission portion second member 22b2) described later (that is, second with respect to the first finger). It is connected so as to be movable in a direction in which the fifth finger comes in contact with and away from the finger. The mounting portion first member 21a is fixed to the wrist by the fixing means 21c, and the mounting portion second member 21b is fixed to the finger by the fixing member 21d. The fixing members 21c and 21d are planar tapes, but may be belts or the like.

  The drive unit 22 includes a drive source 22 a for movement of the mounting unit 21, and a power transmission unit 22 b that transmits the power of the drive source 22 a to the mounting unit 21.

  The drive source 22a includes a motor 22a1 and a control circuit 22a2 that controls the motor 22a1. The control circuit 22a2 is communicably connected to the control signal output unit 12 of the rehabilitation electroencephalogram signal processing apparatus 10 by wire or wirelessly, and generates a control signal generated from the control signal output unit 12 of the rehabilitation electroencephalogram signal processing apparatus 10. Upon receiving the signal, the motor 22a1 outputs a signal for rotating the motor 22a1 at a predetermined rotation angle. When the signal from the control circuit 22a2 is received, the motor 22a1 rotates at the rotation angle. The motor 22a1 and the control circuit 22a2 are attached and fixed to the mounting portion first member 21a. The drive source 22a is connected to a power cable or battery connected to the power source and a communication means (communication cable or the like) with the electroencephalogram signal processing apparatus 10 for rehabilitation, but is omitted in FIG. .

  The power transmission unit 22b includes a power transmission unit first member 22b1 and a power transmission unit second member 22b2. The power transmission unit first member 22b1 is an elongated plate, and one end side is connected to the motor 22a1 and the other end side is connected to the power transmission unit second member 22b2. The power transmission part second member 22b2 is a plate bent in a substantially L shape, and is arranged in such a posture that one side is attached to the second finger with the bent part as a boundary and the other side protrudes to the back side. One side is fixed to the mounting portion first member 21b and is pivotally connected to the mounting portion first member 21b by a connecting member (bolt) 22b3 at a bent portion.

  As described above, the present embodiment exemplifies the case where rehabilitation is performed on a patient who is difficult to grasp the hand, and thus the rehabilitation exercise assisting device 20 is attached to the hand. For example, when aiming at functional recovery of voluntary movement of other parts such as the upper arm and the lower limb, a rehabilitation exercise assisting device corresponding to the voluntary movement of the part to be rehabilitated may be used.

  Moreover, it is preferable that a safety device is added to the rehabilitation exercise assisting device 20 so as not to perform an operation other than a predetermined operation. For example, a stopper that suppresses the rotation angle of the motor 22a1 within a predetermined angle may be provided so that the motor 22a1 does not rotate beyond the range of the predetermined angle to prevent a risk of malfunction.

  The usage mode of rehabilitation system S1 of this Embodiment is demonstrated below. The user wears the rehabilitation exercise assisting device 20 at the rehabilitation target site. Specifically, the user puts his / her hand into the mounting portion first member 21a and inserts the first finger into the hole 22b3, and the second to fifth fingers insert into the mounting portion second member 21b, and the fixing member 21c, Fix with 21d.

  Moreover, the user arranges and attaches an electrode as an electroencephalogram acquisition means at a predetermined location. For example, the electrodes may be arranged in accordance with the International 10-20 Law, or may be arranged at a position where an electroencephalogram signal near the motor area of the rehabilitation target site can be collected. In this state, an electroencephalogram signal collected by the electrode is input to the measuring unit 13, amplified by the amplifying unit 13a, an analog signal is converted into a digital signal by the A / D converting unit 13b, and the storage unit 13c The signal intensity is obtained for each frequency component by analyzing the electroencephalogram signals accumulated in the series and accumulated in the accumulation unit 13c by the analysis unit 14d, and signal intensity data in the frequency time domain is obtained in real time. This signal strength data is handed over to the detection unit 11 in real time, and a state in which a time change appears in the signal strength data of a predetermined frequency component is constantly monitored.

  Here, the frequency component that changes with voluntary movement varies depending on the user's attributes (age, gender, etc.), the state of the disorder, the site of the disorder, individual differences, and other individual specific factors (Note As described above, this is an event newly found by the inventors and the like.) Therefore, what frequency component should be used as the predetermined frequency component may be determined according to the case. For example, when the user is a stroke patient, an electroencephalogram signal is impaired in a circuit in the brain that creates brain activity related to voluntary movement of the disordered part. For example, a healthy person changes at a frequency component of 10 Hz. However, in the case of a stroke patient, the signal of the frequency component may be disturbed, and a change may occur in the frequency component of a higher frequency. Therefore, it is only necessary to specifically identify the frequency component and detect the change. .

  Next, after the user wears the rehabilitation exercise assisting device 20, the user puts the body in a resting state. Since no change appears in the signal intensity of the predetermined frequency component while the resting state is maintained, the time change is not detected by the detection unit 11.

  Thereafter, the user performs voluntary movement of the rehabilitation target site or recalls voluntary movement. In this embodiment, since the gripping motion is described as an example, the user performs a gripping motion that moves the second finger from the second finger in a direction in contact with the first finger or recalls the gripping motion. Then, due to this voluntary movement, event-related desynchronization (ERD) occurs in the vicinity of the motor area of the rehabilitation target site and changes to a predetermined frequency component of the electroencephalogram signal. In the present embodiment, the detection unit 11 monitors the signal strength data obtained in real time, and when the signal strength of the predetermined frequency component changes from a value within the signal strength range at rest to a value within the signal strength range during voluntary exercise. The change in the signal intensity is detected as a change in signal intensity over time when the voluntary movement (gripping movement) is performed from the resting state or the state is reminiscent. Here, the detection in the detection unit 11 may be a method in which a change in time is detected, but in the present embodiment, the signal intensity is compared by comparing a preset threshold value with the signal intensity of a predetermined frequency component. Judgment is made based on a change below or above the threshold. When the signal strength changes below the threshold, it is detected as a time change in the signal strength when the voluntary movement (gripping movement) is performed or recalled, and when the signal intensity changes above the threshold, the voluntary movement shifts to the resting state. This is detected as a change in signal strength over time.

When the time variation of the signal intensity is detected by the detector 11, the control signal output unit 12 outputs a control signal for controlling the operation of the rehabilitation exercise assisting device 20. Here, a signal for rotating the motor 22a1 of the drive unit 22 of the rehabilitation exercise assisting device 20 at a predetermined angle is output. Specifically, when the detection unit 11 detects a change in the signal strength from the resting signal strength range to the voluntary exercise signal strength range, the motor 22a1 of the driving unit 22 of the rehabilitation exercise assisting device 20 is gripped. A control signal for rotating the motor 22a1 is output by rotating the motor 22a1 in the reverse direction when a change from the voluntary movement signal intensity range to the resting signal intensity range is detected. To do.

  The control signal output from the rehabilitation electroencephalogram processing apparatus 10 by the control signal output unit 12 is input to the control circuit 22a2 of the rehabilitation exercise assisting apparatus 20. When receiving the control signal, the control circuit 22a2 outputs an electric signal that causes the motor 22a1 to execute an operation based on the received control signal. Here, an electric signal for rotating the motor 22a1 at a predetermined rotation angle is output.

  In the rehabilitation exercise assisting device 20, when the motor 22a1 rotates at a predetermined angle in accordance with the electrical signal output from the control circuit 22a2, the power transmission unit first member 22b1 is pushed forward (to the finger tip direction) and the power transmission unit A direction in which the power transmission unit second member 22b2 connected to the first member 22b1 rotates at a predetermined angle about the connection member 22b3 as a rotation axis and the mounting unit second member 21b contacts the mounting unit first member 21a (second finger) To the fifth finger in a direction in contact with the first finger). Until the next electric signal is input, the motor 22a1 maintains its posture, and the mounting portion 21 continues the gripping posture.

  While the user continues voluntary movement (gripping movement) or recalls, the signal strength shows a value within the signal intensity range during exercise (below the threshold), but terminates voluntary movement or recall. When returning to the resting state, the signal intensity indicates a value within the resting signal intensity range (above the threshold value), and this is detected by the detection unit 11 as a time change of the signal intensity. When the change in time is detected by the detection unit 11, the control signal output unit 12 changes the posture of the motor 22a1 to the initial posture (from the second finger to the fifth finger by rotating the motor 22a1 at a predetermined rotation angle). A control signal for returning to the state in which the palm is opened apart from one finger is output.

  In this way, the second finger to the fifth finger wearing the mounting part second member 21b are moved in the direction of coming into contact with and away from the first finger, and the gripping motion is assisted. As a result, sensory nerves of muscles and skin are activated and the information reaches the brain, whereby nerves are reconstructed and a high rehabilitation effect is obtained.

  As described above, according to the rehabilitation system S1, when the user performs voluntary exercise or recalls, the rehabilitation electroencephalogram signal processing apparatus 10 detects the time change of the electroencephalogram signal, and the rehabilitation exercise assisting apparatus 20 Since it operates, it is possible to assist the voluntary movement in accordance with the timing when the voluntary movement is performed or the timing when the movement is recalled. Since the rehabilitation exercise assisting device 20 operates in accordance with the time change of the signal intensity of the electroencephalogram signal, the voluntary exercise can be assisted in a timely manner even for a severe patient in which voluntary exercise is extremely weak or impossible. It is suitable for. In particular, the electroencephalogram signal is collected from the vicinity of the motor area corresponding to the rehabilitation target site, and further, the electroencephalogram signal is limited to a predetermined frequency component according to an individual specific case, and the limited predetermined frequency is determined. Since a time change is detected about a component, the very high rehabilitation effect is acquired.

<Second Embodiment>
FIG. 3 is an explanatory diagram for explaining the rehabilitation system S2 of the present embodiment. The rehabilitation system S2 has a function added to the rehabilitation system S1 and includes a frequency setting unit 14 that sets a frequency value of a predetermined frequency component to be detected by the detection unit 10. Which frequency component changes in association with voluntary movement varies depending on various factors such as the user's attributes, rehabilitation target site, disorder status, and individual differences. This is an event newly found by the inventors through experiments and the like. Therefore, by making it possible to set the frequency value of the frequency component to be detected, various cases can be handled. Note that the same elements as those in the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.

  The frequency setting unit 14 may be manually input with a set value or automatically set by data analysis.

  When the set value is artificially input, the rehabilitation electroencephalogram signal processing apparatus 10 receives the frequency value input from the input unit 15 in the frequency setting unit 14 and stores the frequency value in the storage unit 16. . The input unit 15 may be arbitrarily input using a keyboard, a mouse, or the like, or may be input by selectively setting a frequency value using a dial or a button. The set value may be displayed on a display unit (not shown). The storage unit 16 is realized by a storage device such as a memory or a hard disk, and may be built in a computer that implements the frequency setting unit 14, the detection unit 11, and the control signal output unit 12, or may be an external device. It may be externally attached. Further, only one frequency value may be set, but a plurality of frequency values such as for each user and for each rehabilitation target site may be registered. In this case, a frequency value and an identifier that can uniquely identify the frequency value are input, and these are associated and stored in the storage unit 16.

  On the other hand, in the case of automatic setting, the frequency setting unit 14 receives the signal strength data of the electroencephalogram signal when the measurement unit 13 performs a resting state and voluntary movement or recalls it as test data, The feature extraction is performed by comparing the electroencephalogram signals at the time of voluntary movement or recall, and the frequency component that changes at the time of voluntary movement or recall is specified. The identified frequency component is stored in the storage unit 16 as a value of a predetermined frequency component to be detected. The test data at this time is preferably a plurality of data acquired by a plurality of tests. Further, it is preferable that the frequency value of the identified frequency component is displayed on a display unit (not shown) and can be finely adjusted at any time by the input unit 15. The test data may be separately prepared by an electroencephalograph or the like as an external device, input to the rehabilitation electroencephalogram signal processing apparatus 10 and delivered to the frequency setting unit 14.

  When the frequency value is set by the frequency setting unit 14, the detection unit 11 refers to the storage unit 16, acquires the frequency value stored in the storage unit 16, and the frequency corresponding to the frequency value Detects changes in component intensity over time.

  The usage aspect of the rehabilitation system of this Embodiment is demonstrated below. First, as an initial setting, an assistant or a user sets a frequency value of a frequency component to be detected by the frequency setting unit 14.

  When setting artificially, the frequency value may be set according to the rule of thumb of the assistant, but more preferably, the frequency change of the EEG signal intensity with the voluntary movement of the user is monitored and any frequency is monitored. It is determined by clarifying whether the component changes. For example, while the user is performing rehabilitation, the power spectrum of the electroencephalogram signal in the frequency time domain is acquired, and the power spectrum changes at the time when the user performs voluntary movement of the rehabilitation target part or recalls. This is done by specifying the frequency components that are present. The frequency value is set by inputting the frequency value of the frequency component to the input unit 15. For example, a setting screen displayed on the display device is input using a keyboard, a mouse, or the like, or selected using a dial, a button, or the like. The frequency value input from the input unit 15 is received by the frequency setting unit 14 and stored in the storage unit 16.

If possible register values of a plurality of the frequencies, such as user or assistant uses as defaults inputs uniquely identifiable identifier frequency value and the same. The input identifier and the frequency value are stored in the storage unit 16 in association with each other.

When the frequency value is set automatically, a test mode switch (not shown) of the electroencephalogram signal processing apparatus 10 for rehabilitation is turned on, and the user performs a resting state and voluntary movement or recalls the user. Repeat. The electroencephalogram signal is measured by the measurement unit 13, analyzed by the frequency setting unit 14, the frequency component to be detected is specified, and the value of the frequency is stored in the storage unit 16. As the test data, test data acquired by an electroencephalograph as an external device may be input separately. Further, the frequency value stored in the storage unit 16 may be finely adjusted by the input unit 15 as necessary.

When the value of the frequency this way is set, the detection unit 11 refers to the storage unit 16, the value of the frequency of the frequency component to be detected value of the frequency stored in the storage unit 16, A time change of the signal intensity of the electroencephalogram signal is detected. When a plurality of frequency values are registered in the storage unit 16, when a user, an assistant, or the like inputs an identifier from a separately provided identifier input unit (not shown) before rehabilitation, the detection unit 11 The frequency value corresponding to the identifier is read from the storage unit 16, the frequency value is set to the frequency value of the frequency component to be detected, and the time change of the signal strength of the frequency component is detected.

  Hereinafter, since it is the same as that of the said embodiment, description is abbreviate | omitted. Thus, by making it possible to set the value of the frequency, an appropriate frequency component can be set as a detection target. The frequency component that changes the signal intensity accompanying voluntary movement varies from case to case due to various factors such as the user's attributes, the state of the disorder, the location of the disorder, and individual differences. It becomes possible to deal with cases.

<Third embodiment>
FIG. 4 is an explanatory diagram for explaining the rehabilitation system S3 of the present embodiment. The rehabilitation system S3 has a function added to the rehabilitation system S2, and includes a detection condition setting unit 17 that receives a setting of a detection condition when detecting a temporal change in signal intensity of a predetermined frequency component in the detection unit 11. Prepare. How the predetermined frequency component changes accompanying voluntary movement depends on various factors such as the user's attributes, the rehabilitation target site, the state of the disorder, and individual differences. This is an event newly found by the inventors through experiments and the like. Therefore, detection conditions can be set by the detection condition setting unit 17 to deal with various cases. Note that the same elements as those in the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.

  The detection condition setting by the detection condition setting unit 17 may be manually input or automatically set by data analysis.

  In the case of artificial input, the detection condition setting unit 17 receives the detection condition input from the input unit 15 and stores the detection condition in the storage unit 16. The input unit 15 may be able to input a frequency value using a keyboard, a mouse, or the like, or may be input by selectively setting detection conditions using a dial or a button. The detection condition may be displayed on a display unit (not shown). Further, only one detection condition may be set, but a plurality of detection conditions such as for each user and for each rehabilitation target part may be registered. In this case, the detection condition and an identifier that can uniquely identify the detection condition are input, and these are associated and stored in the storage unit 16. This identifier may be common or related to the identifier associated with the frequency value in the above embodiment.

  Here, the input detection condition may be any condition that can detect the time change of the signal intensity of the predetermined frequency component, but in this embodiment, the time change is detected by comparing the signal intensity and the threshold value. Therefore, the detection condition is set by inputting this threshold value from the input unit 15.

  On the other hand, in the case of automatic setting, the detection condition setting unit 17 receives the signal intensity data of the electroencephalogram signal when the measurement unit 13 performs a resting state and voluntary movement or recalls it as test data, And the brain wave signal of the voluntary movement or the recall state are compared, and the feature extraction is performed, and the regularity of the change that occurs in the predetermined frequency component during the voluntary movement or the recall is derived. The regularity of the derived change is stored in the storage unit 16 as a detection condition. In the present embodiment, the detection condition setting unit 17 performs processing for specifying the resting signal intensity range and the voluntary movement signal intensity range by feature extraction or the like, and the value of the resting signal intensity range and the voluntary movement signal The value of the intensity range or the threshold value serving as the boundary is stored in the storage unit 16. The test data at this time is preferably plural. The detection conditions stored in the storage unit 16 are preferably displayed on a display unit (not shown) and can be finely adjusted at any time by the input unit 15. The test data may be collected by an electroencephalograph as an external device and input to the rehabilitation electroencephalogram processing apparatus 10.

In the test data, the frequency value is first specified by the frequency setting unit 14, and then the regularity of the change in the frequency value specified by the frequency setting unit 14 is derived by the detection condition setting unit 17. Anyway. In this case, the processing of the frequency setting unit 14 and the detection condition setting unit 17 may be performed seamlessly.

  When the detection condition is set by the detection condition setting unit 17, the detection unit 11 refers to the storage unit 16 and detects a time change using the detection condition stored in the storage unit 16.

The usage mode of rehabilitation system S3 of this Embodiment is demonstrated below.
First, as an initial setting, a user or an assistant thereof sets a threshold value using the detection condition setting unit 17.

  When setting artificially, the detection condition may be set according to the empirical rule of the assistant, but more preferably, the time change of the signal intensity of the electroencephalogram signal accompanying the voluntary movement of the user is monitored, and the signal intensity is Decide by clarifying how it will change. For example, while the user is performing rehabilitation, the power spectrum of the electroencephalogram signal in the frequency time domain is acquired, and the power spectrum changes at the time when the user performs voluntary movement of the rehabilitation target part or recalls. The frequency component is identified and the regularity of the change is derived. In the present embodiment, the resting signal intensity range and the voluntary movement signal intensity range of the frequency component are clarified, and each range or a threshold value serving as a boundary thereof is input from the input unit 15. Each range or threshold value input from the input unit 15 is stored in the storage unit 16.

When a plurality of the threshold values can be registered, a user, an assistant, or the like inputs a detection condition and an identifier that can uniquely identify it as an initial setting. The input identifier and threshold are stored in the storage unit 15 in association with each other.

  When the detection condition is set automatically, the test mode switch (not shown) of the electroencephalogram signal processing apparatus 10 for rehabilitation is turned on, and the user performs a resting state and voluntary movement or a state of recalling is repeated. Make it. The electroencephalogram signal is measured by the measurement unit 13, analyzed by the frequency setting unit 14, and the regularity of the time change is specified, and the regularity of the time change is stored in the storage unit 16 as a detection condition. In the present embodiment, a value of a resting signal intensity range and a value of a voluntary movement signal intensity range, or a threshold value serving as a boundary between them is stored. As the test data, test data collected by an electroencephalograph as an external device may be input separately. Further, the detection conditions stored in the storage unit 16 may be finely adjusted by the input unit 15 as necessary.

  When the detection condition is set in this way, the detection unit 11 acquires the stored detection condition with reference to the storage unit 16, and detects a temporal change in the signal intensity based on the detection condition. In the present embodiment, since the threshold value is stored in the storage unit 16, the detection unit 11 acquires the threshold value, compares the signal intensity of the electroencephalogram with the threshold value, and detects a temporal change in the electroencephalogram signal intensity. To do.

  When a plurality of detection conditions are registered in the storage unit 16, when an identifier is input from an identifier input unit (not shown) separately provided by a user or an assistant, the detection unit 11 includes the identifier. Corresponding detection conditions are read from the storage unit 16, and the time change of the signal intensity is detected using the detection conditions. This identifier may be the same as the identifier of the second embodiment. In this case, the frequency value and detection condition corresponding to the identifier are acquired from the storage unit 16, and the detection processing is performed on the signal intensity of the frequency component corresponding to the acquired frequency value based on the acquired detection condition.

  Hereinafter, since it is the same as that of the said embodiment, description is abbreviate | omitted. Thus, by setting the detection condition, it is possible to detect a change in time based on an appropriate detection condition. How the signal strength changes depends on the user's attributes, the state of the failure, the location of the failure, individual differences, and other factors, but this varies from case to case. It becomes possible.

<Electrode Pad in the Present Invention>
Figure 5 is an explanatory view for explaining the electrode pad 30 of the present invention from the side of the side surface. The electrode pad 30 is used to collect an electroencephalogram signal used in the rehabilitation electroencephalogram signal processing apparatus 10 of the above embodiment, and includes a base 31 and a plurality of protruding electrodes 32 protruding from the base 31. A conductive layer 33 is provided.

  The base 31 and the protruding electrodes 32 have the same configuration as a general electrode pad for collecting brain waves, and a plurality of conductive protruding electrodes 32 are arranged on the base 31 having a flat plate shape or a cylindrical shape. Has a configuration. The number of the protruding electrodes 32 may be plural, and is not limited.

  The conductive layer 33 is formed of a gel layer in which the dispersion medium has conductivity, or a layer in which a conductive liquid is held in a flexible material having water retention. The gel loses its fluidity due to the highly viscous dispersoid and becomes solid as a whole system. For example, a hydrogel in which water and an electrolyte are stably held in a hydrophilic resin matrix can be mentioned. In addition, examples of the flexible material having water retention include sponges, and examples of the conductive liquid include water and electrolyte. When pressure is applied from the outside, the conductive layer 33 has a function of releasing a conductive dispersion medium or a conductive liquid to the outside according to the strength of the pressure. The conductive layer 33 may be adhesive and can be attached to the scalp. The conductive layer 33 is preferably fixed to the base 31 by sticking or the like and is not fixed at least near the tip of the protruding electrode 32.

  The conductive layer 33 is filled between the plurality of protruding electrodes 32, 32, and the tips of the protruding electrodes 32, 32 are buried in the conductive layer 33 (see FIG. 5A). Alternatively, it is flush with the surface of the conductive layer 33 (see FIG. 5B).

  The usage state of the electrode pad 30 will be described below. FIG. 6A is an explanatory diagram for explaining a use state of the electrode pad 30, and FIG. 6B is an enlarged view of a contact portion between the electrode pad 30 and the head H in the use state. The electrode pad 30 is disposed on the head H such that the conductive layer 33 side is in contact with the scalp. The tip of the protruding electrode 32 is buried in the conductive layer 33, or is flush with the surface of the conductive layer 33. When the electrode pad 30 is pressed against the head H and brought into contact with the head H, it is flexible. And the protruding electrode 32 protrudes from the conductive layer 33, and the protruding electrode 32 scrapes the hair hr according to the same principle as a brush (aligns the hair to expose the scalp), The head H is surely touched. At this time, the conductive layer 33 is pushed up by the thickness of the hair hr to become a concave state, and a gap a is generated between the conductive layer 33 and the head H. The gap a has a high electrical resistance if left in a space, and rather stores an electroencephalogram signal like a capacitor. Therefore, the gap a exhibits a high impedance and hinders the collection of the electroencephalogram signal. In this respect, since the electrode pad 30 is filled with the conductive dispersion medium or the conductive liquid that oozes out from the conductive layer 33 in the gap a, not only the protruding electrode 32 but also the conductive layer 33 and the gap a part. However, it becomes possible to energize and impedance can be reduced.

  Here, as the conductive layer 33, it is preferable to use an adhesive gel sheet that can be easily peeled off. Compared to the case of using a conventional conductive paste, the conductive paste is more sticky and remains on the hair and scalp after EEG collection, so it takes time for post-processing such as dissolving and washing with alcohol etc. And trouble has occurred. In that respect, by using an adhesive water-retaining gel sheet that can be easily peeled off, scalp washing or the like is not required, and the time and effort of removal work can be improved. Moreover, since it can be made disposable, an infectious disease can also be prevented.

  The inventor conducted the following Experiment 1 and Experiment 2 in order to demonstrate the usefulness of the rehabilitation electroencephalogram signal processing apparatus and rehabilitation system of the present invention.

<Experiment 1>
As experiment 1, brain waves at the time of voluntary movement recall in healthy subjects were acquired. One test subject is a healthy adult, and as shown in FIG. 7, on the subject's head, C3, C1, FC3, C5, CP3, C4, C6, FC4, C2, CP4 conforming to the International 10-20 Act An electrode was placed at the position. The electrode used was the electrode pad of the above embodiment.

  As an experimental task, the following three tasks were set: Task 1: Recalling the gripping motion of the left hand, Task 2: Recalling the gripping motion of the right hand, and Task 3: Recalling the voluntary motion that moves the foot. I let them. As shown in FIG. 8, when the voluntary motion recall start time is 0, the subject has a rest time between -5 seconds and -2 seconds, a preparation time between -2 seconds and 0 seconds, and 0 seconds to 5 seconds. The voluntary motion recall (image) time was defined as seconds, and the rest time was defined as 5 seconds to 10 seconds, and the tasks 1 to 3 were sequentially performed.

  As experimental conditions, a signal was sampled from an electroencephalogram as an analog signal at a sampling frequency of 256 Hz and converted into a digital signal. In addition, a band elimination filter (Notch filter) was used to attenuate a signal in a certain frequency band and pass a signal in another band. This is to prevent mixing of electromagnetic noise caused by commercial power.

  In the analysis method, the analysis window width was 1 second, and a Hamming window was used as the analysis window. The overlap of the analysis window was 87.5%. Then, the power spectrum is calculated for each analysis window while shifting the analysis window so that it overlaps the current analysis window by 87.5%, and this is performed for all frequency components to represent the power spectrum distribution in the frequency time domain. Generated data.

  9 to 11 are data representing the power spectrum distribution obtained by Experiment 1. FIG. In each data, in order to express three elements of frequency, signal intensity, and time in two dimensions, the vertical axis represents frequency, the horizontal axis represents time, and the power spectrum intensity is represented by color. Note that the color changes from black to blue to green to red as the signal intensity increases.

  Each data in FIGS. 9 to 11 is data of an electroencephalogram signal collected from the vicinity of the right-hand motor area, and FIG. 9B is data of an electroencephalogram signal collected from the vicinity of the left-hand motor area. Each data is derived by the derivation method shown in FIG. FIG. 12A corresponds to FIG. 9A, FIG. 10A, and FIG. 11A, and FIG. 12B corresponds to FIG. 9B, FIG. 10B, and FIG. It corresponds to. Referring to FIG. 9 as an example, the central data (a-0) in FIG. 9A is an electroencephalogram collected from electrodes arranged at the positions of C3, C1, FC3, C5 and CP3 shown in FIG. The data (a-1) to the right of the data obtained by Laplacian derivation using the above signal is the bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C3 and C1. The data (a-2) above shows the signal strength derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C3 and FC3. The data (a-3) on the left is data indicating the signal intensity derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C3 and C5. Data (a-4) C3 and CP3 using EEG signals collected from the electrode disposed at the position of a data indicating a signal strength derived by bipolar derivation. Further, data (b-0) in FIG. 9B is obtained by Laplacian derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C4, C2, FC4, C6 and CP4 shown in FIG. This is data indicating the derived signal strength, and the data (b-1) on the right is data indicating the signal strength derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C3 and C6. The data (b-2) above is data indicating the signal intensity derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C3 and FC4. (B-3) is data indicating the signal intensity derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of C4 and C2, and the lower data (b-4) is C3. And CP4 Using EEG signals taken from location to electrodes is data indicating the signal strength derived by bipolar derivation. The same applies to FIGS. 10 and 11 below.

Task 1: Recalling gripping motion of left hand Referring to the data (b-0) to (b-4) of FIG. 9 (b) collected from the vicinity of the left hand motor area, frequency components around 10 Hz and 25 Hz are obtained. In response to the voluntary motion recall time (0 to 5 seconds), the signal intensity is low enough to show blue. This blue spot is a spot where the signal intensity is lowered due to event-related desynchronization accompanying voluntary movement. The reason why the signal intensity decreases from -2 seconds to 0 seconds is that the subject starts to recall voluntary movements quickly from the preparation time of -2 seconds to 0 seconds.

  In addition, the data (a-0) to (a-4) of FIG. 9 (a) collected from the vicinity of the right hand motor area also show a tendency that the signal intensity decreases corresponding to the voluntary motor recall time. Since the present invention uses the data (b-0) to (b-4) of the electroencephalogram signal intensity in the vicinity of the left hand motor area when assisting the gripping movement of the left hand, from these data (b-0) ( If a time change is detected in b-4), there is no problem.

Task 2: Recalling gripping motion of the right hand Referring to the data (a-0) to (a-4) of Fig. 10 (a) collected from the vicinity of the right hand motor area, it is optional at around 10Hz and around 25Hz. Corresponding to the motion recall time (0 to 5 seconds), the signal intensity of the electroencephalogram is low enough to show blue. This blue part is the part where the signal intensity is low due to event-related desynchronization accompanying voluntary movement. The reason why the signal intensity decreases from -2 seconds to 0 seconds is that the subject starts to recall voluntary movements quickly from the preparation time of -2 seconds to 0 seconds.

  In addition, the data (b-0) to (b-4) in FIG. 10 (b) collected from the vicinity of the left hand motor area also show a tendency that the signal intensity decreases corresponding to the voluntary movement recall time. Since the present invention uses the data (a-0) to (a-4) of the electroencephalogram signal intensity in the vicinity of the right hand motor area when assisting the gripping movement of the right hand, the signal intensity of the electroencephalogram in the vicinity of the right hand motor area is used. There is no problem if a time change is detected from data (a-0) to (a-4).

Task 3: Recalling voluntary movement of the foot Although all the data shown in FIG. 11 have a slight blue color, they are not as characteristic as the data shown in FIG. 9 (b) and FIG. 10 (a). . Recalling voluntary movements of the foot, since there is no significant temporal change in EEG signal intensity in the vicinity of the right-handed motor area or left-handed motor area, changes in signal intensity in tasks 1 and 2 It can be seen that this is accompanied by a right hand gripping motion.

  That is, the range shown in blue in the data (b-0) to (b-4) in FIG. 9 and the data (a-0) to (a-4) in FIG. Other than that, the rest corresponds to the resting signal strength range, and the signal strength value that becomes the boundary between the voluntary motion signal strength range and the resting signal strength range corresponds to the threshold value. Here, the threshold value is set as a ratio (%) of the signal intensity during voluntary exercise with respect to the average resting signal intensity, and is specifically set between 5% and 30% depending on the degree of training of the patient. For this subject, the threshold was 15%. From these results, it can be seen that it is preferable to detect temporal changes in the frequency components of 10 Hz and 25 Hz, preferably the frequency components included in the frequency band of 10 Hz to 30 Hz. Of these frequency components, when the signal intensity of any one of the frequency components transitions from the resting signal intensity range to the voluntary movement signal intensity range, a change in the signal intensity over time is detected by the detection unit 11, and rehabilitation is performed. When a control signal for gripping posture is sent to the exercise assisting device k and the signal intensity transitions from the voluntary movement signal intensity range to the resting signal intensity range, the detection unit 11 detects a time change in the signal intensity, A control signal for releasing the gripping posture and opening the palm is sent to the rehabilitation exercise assistance device. In order to prevent malfunctions due to breakage of the resting signal intensity range or voluntary exercise signal intensity range, breakage of a predetermined time or less may be excluded from the time change. That is, the detection unit 11 may detect a change in time only when the resting signal intensity range or the exercise signal intensity range has continuity of a predetermined time or more. Note that the threshold setting here is not limited to the above-described means, and various methods used for pattern recognition can be used. For example, a method such as linear discriminant analysis (LAD) or support vector machine (SVM) may be used.

  In addition, in each data of FIG.9 (b) and FIG.10 (a), the blue location which is the signal intensity range at the time of voluntary movement is seen at the time of grasping | collection movement recall (-2 second to 0 second). This is because the subject recalls the gripping motion from the preparation time, and according to the present invention, the rehabilitation exercise assisting device is interlocked with this time change. It can be seen that the invention is effective. For example, in the case of rehabilitation in which an assistant assists voluntary movements in accordance with a prescribed timing, even if the subject recalls from the preparatory time outside the regulation, the assistant will perform an assisting action at the prescribed time. However, according to the present invention, even if the voluntary movement is recalled earlier than the prescribed timing, the voluntary movement is assisted in accordance with the timing of the recall.

  From the above, it can be seen that according to the present invention, in rehabilitation, it is possible to provide assistance with good timing in accordance with the user's voluntary movement or recall of voluntary movement.

<Experiment 2>
The brain wave at the time of voluntary motor recall was obtained in stroke hemiplegic patients. The subject was a left hemiplegic stroke hemiplegic patient, and electrodes were placed on the subject's head at positions FC1 and C1 in accordance with the International 10-20 Act as shown in FIG. As the electrode, the electrode pad of the above embodiment was used.

  The experimental task is recalling the gripping movement of the left hand, which is the paralyzed side. As shown in FIG. 14, when the voluntary motion recall start time is 0, the subject has a rest time between -10 seconds and -2 seconds, a preparation time between -2 seconds and 0 seconds, and 0 seconds to 5 seconds. The period between seconds was the voluntary movement recall (image) time, and these were performed sequentially. The experimental conditions and analysis method are the same as in Experiment 1 above.

  FIG. 15 shows the experimental results. FIG. 15A is data showing the distribution of the electroencephalogram signal collected from the vicinity of the right hand motor area, and FIG. 15B is the data showing the distribution of the signal intensity of the electroencephalogram collected from the vicinity of the left hand motor area. is there. The signal intensity is derived by bipolar derivation using the electroencephalogram signals collected from the electrodes arranged at the positions of FC1 and C1 (see FIG. 13), and the data in FIG. It derived | led-out by bipolar derivation | leading-out using the electroencephalogram signal extract | collected from the electrode arrange | positioned at the position of FC2 and C2 (refer FIG. 13).

  Referring to the data of FIG. 15 (b) showing the electroencephalogram signal intensity collected from the vicinity of the left hand motor area, the frequency component of 10 Hz to 20 Hz corresponds to the voluntary motor recall time (near 0 seconds to 5 seconds), The signal intensity is low enough to show blue. This blue spot is a spot where the signal intensity is lowered due to event-related desynchronization accompanying voluntary movement.

  Note that the signal intensity data of the electroencephalogram near the right hand motor area (FIG. 15 (a)) also shows a tendency for the signal intensity to decrease corresponding to the voluntary movement recall time. Is used, the electroencephalogram signal intensity data in the vicinity of the left hand motor area (FIG. 15B) is used. Therefore, the time change is detected in the signal intensity data in the vicinity of the left hand motor area (FIG. 15B). If there is no problem.

  That is, in the case of this test subject, the ratio (%) of the signal intensity during voluntary exercise to the average resting signal intensity is calculated from the time change of the frequency component of 10 Hz or more and 20 Hz or less in the signal processing device for rehabilitation, and stored in advance. Comparing the calculated threshold with the calculated ratio, and if the calculated ratio is lower than the threshold, it is determined that the voluntary movement is recalled and the auxiliary device for rehabilitation is operated to assist the voluntary movement with good timing. Is possible. Note that the threshold value is set in the same manner as in Experiment 1 above, and in order to prevent malfunction due to breakage of the resting signal strength range and the motion signal strength range, the resting signal strength range or the motion signal strength range is predetermined. It is the same as Experiment 1 above in that it may be detected as a time change only when it has continuity over time, and various means used for pattern recognition can be used for setting the threshold.

<Experiments 3 and 4>
Next, the inventors conducted the following Experiment 3 and Experiment 4 in order to demonstrate the usefulness of the electrode pad of the present invention.

  A comparative experiment was performed using the electrodes shown in FIGS. FIG. 16A shows an electrode pad E1 to be compared, which has a plurality of protruding electrodes on the base and has a space between the protruding electrodes. FIG. Electrode pad E2, which has a plurality of protruding electrodes on the base and is filled with conductive gel as a conductive layer between the protruding electrodes, that is, conductive gel between the protruding electrodes of electrode E1 Is filled.

  The electrode pad E1 and the electrode pad E2 were placed on the subject's head under the same conditions, and the impedance was measured. At the time of attachment, the electrode pads E1 and E2 were attached while rotating 10 times to the left and right so as to separate the hair.

  In Experiment 3, the subjects were two elderly men (65 years of age or older) and the impedance was measured three times each. In Experiment 4, three young subjects (23 to 25 years old) were tested, and impedance was measured three times each. “-” Represents 100 kΩ or more.

  FIG. 17 is a diagram showing the results of Experiment 3, and FIG. 18 is a diagram showing the results of Experiment 4. In most cases, the impedance of the electrode pad E2 is lower than that of the electrode pad E1. This is because the electrode pad E2 has conductivity not only between the protruding electrodes but also between the conductive layer and the conductive dispersion medium filling the gap generated between the conductive layer and the scalp. Because it becomes. Therefore, according to the electrode pad of the present invention, it is possible to reduce the impedance between the scalp and the electrode and collect an electroencephalogram signal useful for the electroencephalogram signal processing apparatus for rehabilitation of the present invention.

  As described above, according to the rehabilitation electroencephalogram signal processing apparatus and the rehabilitation system of the present invention, the temporal change in the signal intensity of the electroencephalogram accompanying voluntary movement is detected, and the rehabilitation exercise assistance apparatus is operated in accordance with the temporal change. Therefore, it is possible for the user to perform voluntary exercise or assist the voluntary exercise in accordance with the recalled timing. In particular, it uses a brain wave signal collected from the vicinity of the motor area corresponding to the rehabilitation target area, and further detects the change only from a predetermined frequency component from the brain wave signal, so the change associated with voluntary movement is reliably detected. And a very high rehabilitation effect can be obtained. In addition, according to the electrode pad of the present invention, the impedance between the head and the electrode can be reduced, and an electroencephalogram signal useful for the electroencephalogram signal processing apparatus for rehabilitation of the present invention can be collected.

  The present invention is not limited to the embodiment described above. For example, in the above-described embodiment, the example used for the rehabilitation of the gripping movement of the hand has been described as an example, but the one used for the rehabilitation of the voluntary movement of the upper limb, the lower limb, the finger, the upper limb, and other body parts. If it is good. In this case, what is necessary is just to detect a time change according to the rehabilitation part and the kind of voluntary movement, and to output a control signal, and it is not limited to the said embodiment. As for the rehabilitation exercise assistance device, for example, a device that assists flexion and extension of the knee, a device that assists the flexion and extension of the elbow, a device that assists walking, and a device that responds to the rehabilitation site and voluntary movement. What is necessary is just to be sufficient and it is not limited to the said embodiment.

  In the above-described embodiment, the electroencephalogram signal is acquired using the electrode. However, the electrode is not necessarily used as long as the electroencephalogram signal can be acquired. However, in the present invention, since it is desirable to perform electroencephalogram measurement non-invasively, it is preferable to acquire an electroencephalogram signal using an electrode. In this case, it is possible to easily acquire an electroencephalogram signal by preparing a headset in which electrodes are arranged and attaching the headset to the observer's head. Furthermore, since the impedance can be suppressed by using the electrode pad of the present invention, it is preferable.

  Furthermore, in the above-described embodiment, the processing in the measurement unit that measures the electroencephalogram is not particularly described in detail. For example, the analysis window length is changed according to the frequency of the signal, or an arbitrary analysis window is set. It can be applied, and it can be expected to improve the analysis accuracy depending on the analysis window used and the analysis window length.

  Furthermore, in each said embodiment, you may make it provide the function which controls the exercise assistance apparatus for rehabilitation by a myoelectric signal. This is because a further rehabilitation effect can be expected by appropriately using the control based on the electroencephalogram signal and the control based on the myoelectric signal according to the patient's condition. In this case, a myoelectric signal collecting means such as an electrode is arranged in the vicinity of the rehabilitation target site, and a myoelectric signal of the rehabilitation target site is collected. A signal from the myoelectric signal collecting means is input to the rehabilitation myoelectric signal processing device in real time, and when the myoelectric signal is detected, a control signal for operating the rehabilitation exercise assisting device is output. When the rehabilitation exercise assisting device receives a control signal from the rehabilitation myoelectric signal processing device, the rehabilitation exercise assisting device operates in accordance with the control signal. Whether the control is based on the electroencephalogram signal or the control based on the myoelectric signal may be appropriately determined according to the state of the patient's motor paralysis. Note that the rehabilitation myoelectric signal processing apparatus and the rehabilitation electroencephalogram processing apparatus of the present invention may be realized by a computer system having both functions, and may be configured integrally, or each may be realized by an independent computer system. May be configured separately.

  Thus, it goes without saying that the present invention can be modified as appropriate without departing from the spirit of the present invention.

S1, S2, S3 rehabilitation system,
10 EEG signal processing device for rehabilitation,
11 detector,
12 Control signal output unit,
13 measuring section,
14 Frequency setting part,
15 input section,
16 storage unit,
17 Detection condition setting part,
20 Exercise assistive device for rehabilitation,
21 mounting part,
21a Mounting member first member,
21b Mounting member second member,
22 drive unit,
22a drive source,
22a1 motor,
22a2 control circuit,
22b power transmission part,
22b1 power transmission part first member,
22b2 power transmission part second member,
30 electrode pads,
31 base,
32 protruding electrodes,
33 conductive layer,
H head,
Hn hand,
hr hair

Claims (3)

An electroencephalogram signal processing apparatus for rehabilitation that processes an electroencephalogram signal for rehabilitation by exercise therapy, and a signal intensity time of a predetermined frequency component for an electroencephalogram signal collected from the vicinity of a motor area corresponding to a rehabilitation target region of the brain A detection unit that detects a change, and a time change in signal intensity of a predetermined frequency component is detected by the detection unit, and a time change in which the signal intensity changes from a signal intensity range at rest to a signal intensity range during voluntary exercise is detected And a control signal for controlling the rehabilitation exercise assisting device that assists the voluntary movement of the body to perform an auxiliary operation, and the signal intensity changes from the voluntary movement signal intensity range to the resting signal intensity range. a control signal output unit for controlling so as to be detected undo auxiliary operation of the rehabilitation exercise assisting device An electrode pad mounted on the head for collecting the electroencephalogram signal is provided. The electrode pad includes a base, a plurality of projecting electrodes protruding from the base, and a gel whose dispersion medium has conductivity. An electroencephalogram signal processing apparatus for rehabilitation characterized by comprising. An electroencephalogram signal processing apparatus for rehabilitation that processes an electroencephalogram signal for rehabilitation by exercise therapy, and a signal intensity time of a predetermined frequency component for an electroencephalogram signal collected from the vicinity of a motor area corresponding to a rehabilitation target region of the brain a detector for detecting a change, time change of the signal intensity of a predetermined frequency component is detected by the detection unit, the time change of the signal intensity is changed in voluntary movement when the signal strength range from the resting signal intensity range is detected And a control signal for controlling the rehabilitation exercise assisting device that assists the voluntary movement of the body to perform an auxiliary operation, and the signal intensity changes from the voluntary movement signal intensity range to the resting signal intensity range. a control signal output unit for controlling so as to be detected undo auxiliary operation of the rehabilitation exercise assisting device An electrode pad mounted on a head for collecting the electroencephalogram signal is provided, and the electrode pad is electrically conductive to a base, a plurality of protruding electrodes protruding from the base, and a flexible material having water retention. The conductive layer holds a conductive liquid, and the conductive layer fills at least the space between the plurality of protruding electrodes, and the tips of the protruding electrodes are buried in the conductive layer, or the conductive layer An electroencephalogram signal processing apparatus for rehabilitation characterized by being flush with a surface.   A rehabilitation electroencephalogram signal processing apparatus according to claim 1 or 2 and a rehabilitation exercise assisting device for assisting the voluntary movement for functional recovery of the body's voluntary movement, wherein the rehabilitation exercise assisting apparatus includes the rehabilitation. The rehabilitation system is characterized in that the operation is controlled by the control signal output from the electroencephalogram signal processing apparatus.

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