JP6301862B2 - 下股運動装置およびその制御方法 - Google Patents
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- 238000000034 method Methods 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000003183 myoelectrical effect Effects 0.000 claims description 29
- 230000009471 action Effects 0.000 claims description 16
- 230000004913 activation Effects 0.000 claims description 15
- 210000003205 muscle Anatomy 0.000 claims description 14
- 210000003141 lower extremity Anatomy 0.000 description 23
- 230000033001 locomotion Effects 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
- A61H2201/1666—Movement of interface, i.e. force application means linear multidimensional
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5035—Several programs selectable
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
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- Pain & Pain Management (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Business, Economics & Management (AREA)
- Business, Economics & Management (AREA)
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Description
図1に示すように、下肢運動装置10は、基座20、支持フレーム30、伝動装置40および外骨格型機械50を備える。支持フレーム30は基座20の後側に固定され、ユーザーの人体を支える。伝動装置40は二つの向かい合う固定部41と、二つの向かい合う第一可動機構42および二つの向かい合う第二可動機構43を有する。固定部41は基座20に固定され、二つの相互に平行する横方向ガイド溝44を有する。第一可動機構42は固定部41の横方向ガイド溝44に装着され、組み立てられるため、基座20に相対して前進および後退できる。第一可動機構42は二つの相互に平行する縦方向ガイド溝45を有する。第二可動機構43は第一可動機構42の縦方向ガイド溝45に装着され、組み立てられるため、基座20に相対して第一可動機構42とともに前進および後退できるだけでなく、基座20に相対して上昇および降下できる。外骨格型機械50は支持フレーム30と伝動装置40の第二可動機構43に装着され、伝動装置40の駆動力によってユーザーの下肢を運動させる。下肢運動装置10はさらに作動制御モジュール60およびヒューマンマシンインターフェース90を備える。作動制御モジュール60は複数の筋電位信号センサー70およびコントローラ80を有する。コントローラ80は基座20の前側に装着され、信号受信機構82、信号処理機構84、作動発生機構86および制御機構88を有する。図2に示すように、信号受信機構82はすべでの筋電位信号センサー70に電気的に接続される。信号処理機構84は信号受信機構82に電気的に接続される。作動発生機構86は信号処理機構84に電気的に接続される。制御機構88は作動発生機構86および伝動装置40に電気的に接続される。ヒューマンマシンインターフェース90は基座20の前側に装着され、作動制御モジュール60のコントローラ80に電気的に接続されることによってユーザーと作動制御モジュール60との間で情報のやりとりを行う。
第1実施形態において、本発明による下股運動装置の制御方法は目標を明確にすることが要点である。つまり、ユーザーに階段上り、歩行または別の訓練を設定してもらった後、操作が始まる。それに対し、第2実施形態は特定部位の筋肉を強化することが要点である。図4に示すように、第1実施形態との違いは下記の通りである。操作が始まる前、ユーザーに強化したい特定部位の筋肉(例えば膝関節のあたりの筋肉または股関節のあたりの筋肉)を設定してもらう。続いて設定した特定部位の筋肉に筋電位信号センサー70を貼り付け、続いて自動訓練を開始する。一方、図5に示すように、第3実施形態において、理学療法士にユーザーの運動能力および需要を参考に、訓練パラメータ(例えば歩行時間、歩幅または歩行速度など)をヒューマンマシンインターフェース90で設定してもらう。設定が完了した後、コントローラ80の作動発生機構86は設定した訓練パラメータに対応する制御信号をコントローラ80の制御機構88に発信する。コントローラ80の制御機構88は伝動装置40によって外骨格型機械50を駆動し、外骨格型機械50によってユーザーの下肢を運動させ、他動訓練を進める。
20:基座、
30:支持フレーム、
40:伝動装置、
41:固定部、
42:第一可動機構、
43:第二可動機構、
44:横方向ガイド溝、
45:縦方向ガイド溝、
50:外骨格型機械、
60:作動制御モジュール、
70:筋電位信号センサー、
80:コントローラ、
82:信号受信機構、
84:信号処理機構、
86:作動発生機構、
88:制御機構、
90:ヒューマンマシンインターフェース
Claims (1)
- 基座に対して動く第一可動機構と前記第一可動機構に対して動く第二可動機構と信号処理機構と作動発生機構と制御機構とを備える下股運動装置の作動方法であって、
次のステップを含み、
ステップb)は、ユーザーが進めたい特定動作に応じた起動条件の設定を受け付け、
ステップc)は、前記ユーザーの特定部位の筋肉が前記特定動作を進める際に生じた筋電位信号を、複数の筋電位信号センサーによって検出し、
ステップd)は、前記ステップc)において検出した結果が前記ステップb)において設定した起動条件を満たすか否かを前記信号処理機構が判断し、
ステップe)は、前記ステップb)において設定した起動条件が満たされると前記作動発生機構を起動し、前記特定動作に対応する制御信号を前記作動発生機構から前記制御機構に発信し、ユーザーの下肢に前記特定動作が生ずるように前記制御機構によって前記第一可動機構と前記第二可動機構とを制御することを特徴とする下股運動装置の作動方法。
Priority Applications (3)
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JP2015042062A JP6301862B2 (ja) | 2015-03-04 | 2015-03-04 | 下股運動装置およびその制御方法 |
EP15176013.9A EP3115036B1 (en) | 2015-03-04 | 2015-07-09 | Lower limb rehabilitation method and apparatus using the method |
US14/796,392 US10052252B2 (en) | 2015-03-04 | 2015-07-10 | Control method for lower limb rehabilitation apparatus and apparatus using the method |
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JP2015042062A JP6301862B2 (ja) | 2015-03-04 | 2015-03-04 | 下股運動装置およびその制御方法 |
EP15176013.9A EP3115036B1 (en) | 2015-03-04 | 2015-07-09 | Lower limb rehabilitation method and apparatus using the method |
US14/796,392 US10052252B2 (en) | 2015-03-04 | 2015-07-10 | Control method for lower limb rehabilitation apparatus and apparatus using the method |
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JP2016158968A JP2016158968A (ja) | 2016-09-05 |
JP6301862B2 true JP6301862B2 (ja) | 2018-03-28 |
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WO2017024201A1 (en) * | 2015-08-06 | 2017-02-09 | The Trustees Of The University Of Pennsylvania | Gait rehabilitation systems, methods, and apparatuses thereof |
KR102601919B1 (ko) * | 2016-07-27 | 2023-11-14 | 큐렉소 주식회사 | 보행 훈련 장치 |
CN108420676A (zh) * | 2017-03-17 | 2018-08-21 | 黄河科技学院 | 下肢姿态理疗康复训练装置 |
CN109316714A (zh) * | 2017-07-31 | 2019-02-12 | 叶云绣 | 移位及站立复健两用机 |
CA3094526A1 (en) | 2018-03-23 | 2019-09-26 | The Alfred E. Mann Foundation For Scientific Research | Skin patches for sensing or affecting a body parameter |
CN108814597B (zh) * | 2018-04-16 | 2021-09-07 | 深圳睿瀚医疗科技有限公司 | 一种基于运动信息与肌电交互的康复训练评测方法及系统 |
KR102127011B1 (ko) * | 2019-02-11 | 2020-06-25 | 큐렉소 주식회사 | 진입 특성이 향상된 착석형 보행재활로봇 |
CN110236539B (zh) * | 2019-07-22 | 2021-08-31 | 宿州学院 | 一种人体下肢表面肌电信号采集及模式识别系统 |
CN110507322B (zh) * | 2019-07-30 | 2021-01-22 | 西安交通大学 | 一种基于虚拟诱导肌电定量状态评估系统及方法 |
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US11097158B2 (en) * | 2019-08-28 | 2021-08-24 | Hiwin Technologies Corp. | Gait training machine and method of using same |
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US12016814B2 (en) * | 2020-10-05 | 2024-06-25 | Altimate Medical Holdings, Inc. | Carriable complex rehabilitation technology systems |
CN112826697A (zh) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | 一种下肢康复训练机器人 |
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2015
- 2015-03-04 JP JP2015042062A patent/JP6301862B2/ja active Active
- 2015-07-09 EP EP15176013.9A patent/EP3115036B1/en active Active
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US20170007489A1 (en) | 2017-01-12 |
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US10052252B2 (en) | 2018-08-21 |
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