JP6625486B2 - Rehabilitation support control device and computer program - Google Patents

Description

  The present invention relates to a technique for supporting rehabilitation.

  2. Description of the Related Art Conventionally, there is a technology for evaluating rehabilitation by displaying an image for rehabilitation on a touch panel and detecting a position touched by a subject who undergoes rehabilitation corresponding to the image (for example, see Patent Document 1).

JP 2013-172897 A

  In general, rehabilitation in which the foot is moved is often monotonous and boring for the subject of rehabilitation, or one set uniformly regardless of the state of the subject. Therefore, rehabilitation in which the foot is moved may be painful for the subject, and rehabilitation in which the subject moves the foot may be stopped.

  In view of the above circumstances, an object of the present invention is to provide a technology that enables a subject of rehabilitation that moves a foot to actively support rehabilitation.

  One embodiment of the present invention is based on foot display parameters used for displaying a predetermined target image to which a foot is to be moved or a foot is not to be touched when a rehabilitation target person who moves the foot moves the foot. A rehabilitation support control device including a display control unit that causes the output device to display the target image, wherein the rehabilitation support control device enables the display parameter for the foot to be changed with the recovery of the function of the subject's foot.

  One embodiment of the present invention is the above-described rehabilitation support control device, wherein the display control unit is a foot distance parameter that is the foot display parameter related to a moving distance of the target person's foot; Based on at least one of the foot time parameter that is the foot display parameter related to the movement time of the foot, and the foot vector parameter that is the foot display parameter related to the moving direction of the subject's foot, The output device displays the target image.

  In one aspect of the present invention, the above-described rehabilitation support control device further includes the output device and a position acquisition unit.

  One embodiment of the present invention is based on foot display parameters used for displaying a predetermined target image to which a foot is to be moved or a foot is not to be touched when a rehabilitation target person who moves the foot moves the foot. A rehabilitation support control device including a display control unit that displays the target image on an output device, wherein the computer functions as a rehabilitation support control device that can change the display parameter for the foot with the recovery of the function of the foot of the subject. Computer program for causing the

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to support the rehabilitation target person who moves a leg actively performing rehabilitation.

It is a perspective view showing the system composition of rehabilitation support system 1 concerning one embodiment of the present invention. FIG. 2 is a schematic block diagram illustrating a functional configuration example of a rehabilitation support control device 300 provided in the rehabilitation support system 1. FIG. 7 is a perspective view for explaining a first operation area by the rehabilitation support control device 300. FIG. 2 is a plan view showing an example of image display in the rehabilitation support system 1. It is a perspective view for explaining the 2nd operation field by rehabilitation support control device 300. FIG. 2 is a plan view showing an example of image display in the rehabilitation support system 1. 9 is a flowchart illustrating an example of an operation area determination process performed by the rehabilitation support control device 300. FIG. 7 is a perspective view showing an example in which the rehabilitation support control device 300 displays a target image as a movement target of a hand. FIG. 7 is a diagram illustrating an example in which the rehabilitation support control device 300 displays hand disturbance. FIG. 14 is a diagram illustrating an example in which a foot display parameter setting unit sets a step value. FIG. 9 is a perspective view illustrating an example in which the rehabilitation support control device 300 displays a target image that is an avoidance target when the target person EP walks. FIG. 9 is a perspective view showing an example in which the rehabilitation support control device 300 displays a disturbance when the target person EP walks. 9 is a flowchart illustrating an example of a process of recognizing a target person EP by the rehabilitation support control device 300. 5 is a flowchart illustrating an example of parameter setting in rehabilitation using the rehabilitation support system 1. FIG. 9 is a perspective view showing an example in which the rehabilitation support control device 300 displays a target image that is a hand avoidance target. It is a perspective view which shows the modification of the system configuration of the rehabilitation support system 1.

  FIG. 1 is a perspective view showing a system configuration of a rehabilitation support system 1 according to one embodiment of the present invention. The rehabilitation support system 1 is a system for supporting a rehabilitation target person (hereinafter, referred to as a “target person”) in performing rehabilitation. The rehabilitation support system 1 includes a sensor 100 (an example of a position acquisition unit), an output device 200, and a rehabilitation support control device 300.

The sensor 100 detects the subject EP within a detection range 800 of the sensor 100 (a range surrounded by a broken line in FIG. 1).
The sensor 100 is a sensor, such as an image sensor, an infrared sensor, a laser sensor, or a thermosensor, that can detect the movement of the target person EP without wearing a marker on the target person EP. In the present embodiment, an example in which Kinect (registered trademark) in which a distance sensor and an image sensor are incorporated is used as the sensor 100 will be described as an example of such a sensor.
The sensor 100 includes, for example, an image sensor (not shown). The image sensor includes: (1) a function as a moving image camera that captures a frontal direction of itself in real time and obtains a plurality of continuous two-dimensional images (frame images); A function as a distance sensor (depth sensor) for acquiring information (an image displaying the distance information) of a distance to an actual position corresponding to each position in the image (frame image). The function of the distance sensor acquires an image of the subject EP and distance image information that is coordinate information in the three-dimensional space of each part of the body of the subject EP captured in the image. The three-dimensional space detected by the sensor 100 is a space indicated by the XYZ orthogonal coordinate system shown in FIG.
Each part of the body of the subject EP is a body part that needs to be detected in order to recognize the motion of the subject EP. Specifically, each part of the body of the subject EP is, for example, the position of the head, shoulders, arms, hands, hips, feet, and joints of the subject EP.
The sensor 100 outputs information indicating a detection result (hereinafter, referred to as “detection result information”) to the rehabilitation support control device 300. The detection result information is, for example, position information of a part of the body of the subject EP.
Note that the sensor 100 may be a sensor that attaches a marker to the target person EP and detects the target person EP by detecting the marker.

The output device 200 outputs an image related to rehabilitation performed on the subject EP. The output device 200 is, for example, an image projection device such as a projector. The output device 200 projects an image that supports rehabilitation and displays the image in the output area 900. Examples of the output image include an image including a movement history of a part of the body of the subject EP and a movement target position of a part of the body of the subject EP. For example, in the case of rehabilitation of walking, the output device 200 displays one or both of the movement history of the position of the foot of the subject EP and the target position at which the subject EP moves by moving the foot. Is also good. Further, in the case of rehabilitation of hand movement, the output device 200 outputs one or both of the movement history of the hand position of the target person EP and the target position to which the target person EP moves the hand to move. May be displayed. In the following description, an image showing the movement history of a part of the body of the subject EP will be referred to as a history image. Further, an image indicating a target movement position of a part of the body of the subject EP is referred to as a target image.
For example, in the case of rehabilitation in which a footprint is displayed and the subject moves his or her foot on the display of the footprint, the footprint is the target image. Further, for example, in the case of rehabilitation in which a pedestrian crossing is displayed and a car approaching when crossing the pedestrian crossing is displayed, the displayed vehicle is the target image. Also, for example, in the case of rehabilitation in which a hand-shaped destination is displayed and the hand is moved to that position, the display indicating the destination of the hand is the target image. Also, for example, in the case of rehabilitation in which a hand is moved to a display position of an apple-shaped display, the displayed apple is the target image. Further, for example, in the case of rehabilitation in which a display in the shape of a flame is displayed and the hand is moved so that the hand does not touch the displayed flame, the displayed flame is the target image. Note that the target image may be variously changed according to the rehabilitation to be performed, such as a size, a display position, and a shape.

  The rehabilitation support control device 300 is configured using an information processing device. That is, the rehabilitation support control device 300 includes a CPU (Central Processor Unit), a memory, and an auxiliary storage device connected by a bus. The rehabilitation support control device 300 operates by executing a rehabilitation support program.

  The sensor 100 and the like are supported by the legs 310. The leg 310 is vertically expandable and contractible, and can adjust the height position of the sensor 100 and the output device 200. Thereby, it is possible to adjust the width of the detection range of the sensor 100. When the output device 200 is a projection device, the size of the output area 900 can be adjusted. The leg portion 310 includes casters 311, 312, 313, and 314. Since the casters 311 to 314 are rollable, the rehabilitation support system 1 can be freely moved on the floor by manually pushing or the like.

FIG. 2 is a schematic block diagram illustrating a functional configuration example of the rehabilitation support control device 300 provided in the rehabilitation support system 1. The rehabilitation support control device 300 includes an input unit 31, an output unit 32, a storage unit 33, a control unit 34, an operation unit 35, and a display unit 36.
The input unit 31 is an interface for inputting information from outside. For example, the input unit 31 acquires information indicating a detection result (detection result information) from the sensor 100.
The output unit 32 is an interface that outputs an image generated by the control unit 34 to the output device 200.

  The storage unit 33 is configured using a storage device such as a magnetic hard disk device or a semiconductor storage device. The storage unit 33 functions as a calibration information storage unit 331, a determination condition information storage unit 332, a detection history information storage unit 333, a parameter information storage unit 334, and a program information storage unit 335.

  The calibration information storage unit 331 stores calibration information. The calibration information is information that associates a coordinate system of coordinates indicating the detection result of the sensor 100 with a coordinate system of an image plane projected by the output device 200. Therefore, the calibration in the rehabilitation support control device 300 is a process of grasping the positional relationship between the detection range 800 by the sensor 100 and the output area 900 of the image by the output device 200, and setting a common coordinate system for both. Note that the detection range that can be detected by the sensor 100 may be wider than the detection range 800 illustrated. The detection range 800 according to the present embodiment is a detection range necessary for acquiring position information of a part of a body to be detected by the target person EP in the operation of the target person EP performed on the output area 900. It is. Note that the term “on the output area 900” includes not only a plane area defined by the output area 900 but also a space up to a predetermined height based on the output area 900 in that area.

The calibration information may be obtained, for example, by performing calibration in advance.
More specifically, for example, the output device 200 projects a marker image for calibration at a plurality of locations such as four corners of an image plane (image output area 900). The rehabilitation support control device 300 knows the coordinates of the output device 200 in the coordinate system.

  When the output device 200 projects the marker images, the sensor 100 indicates the position of each marker image to the rehabilitation support control device 300 using the coordinates in the coordinate system of the sensor 100 (the coordinate system used by the sensor 100 to indicate the detected position). Output. Thereby, the rehabilitation support control device 300 (control unit 34) acquires the position of each marker in both the coordinates of the sensor 100 in the coordinate system and the coordinates of the output device 200 in the coordinate system. Further, the rehabilitation support control device 300 (control unit 34) grasps the coordinates indicating the range of the output area 900 in the coordinate system of the output device 200 from the marker images projected at the four corners and the like. Thereby, a target determination unit 345 described later can calculate a target position in the coordinate system of the output device 200 in the output area 900.

  The rehabilitation support control device 300 (the control unit 34) acquires information for correcting the coordinate system of the sensor 100 as calibration information based on the obtained coordinates. When the sensor 100 has a coordinate system adjustment function, the rehabilitation support control device 300 (control unit 34) uses this function to perform calibration for adjusting the coordinate system of the sensor 100 to the coordinate system of the output device 200. Generate information. Alternatively, when the output device 200 has a coordinate system adjustment function, the rehabilitation support control device 300 (control unit 34) uses this function to adjust the coordinate system of the output device 200 to the coordinate system of the sensor 100. May be generated.

When it is difficult to detect the marker image by the sensor 100, such as when the floor surface scatters light and the marker image is blurred, an operator such as a physiotherapist manually detects the position instead of the position detection using the marker image. May be performed. With the output device 200 projecting an image on the entire output area 900, the sensor 100 captures an image of the area including the entire projected image with the image sensor. The rehabilitation support control device 300 displays an image captured by the sensor 100 on a display screen. Then, the operator of the rehabilitation support system 1 specifies each of the four corners of the output area 900 displayed on the monitor screen by a touch operation.
Since the image displayed on the monitor screen is an image captured by the sensor 100, the position specified by the operator can be obtained by the coordinates of the sensor 100 in the coordinate system. The rehabilitation support control device 300 (control unit 34) acquires calibration information based on the coordinates and the coordinates of the four corners of the output area 900 in the coordinate system of the output device 200. The coordinates of the floor are used as the coordinates in the height direction.
Alternatively, a physical therapist or the like may place physical markers such as cones at the four corners of the image plane. In this case, the sensor 100 detects the placed marker and outputs the coordinates of each marker.

  When the output device 200 projects an image on the floor, if calibration is performed at the first use of the rehabilitation support system 1, there is no need to perform calibration after the second use. Neither the positional relationship between the sensor 100 and the floor, nor the positional relationship between the output device 200 and the floor remains unchanged, so that the calibration information obtained at the first use can be used at the second and subsequent use. is there.

The determination condition information storage unit 332 stores a condition for determining an operation area. The operation area will be described later.
The detection history information storage unit 333 stores a history of position information (detection result information) on a part of the body of the target person EP recognized by the recognition unit 341. For example, when performing rehabilitation for walking, the detection history information storage unit 333 stores the history of the detection result information of the position of the foot of the subject EP. When performing rehabilitation of hand movement, the detection history information storage unit 333 stores the history of the detection result information of the position of the hand of the target person EP.

The parameter information storage unit 334 includes a foot display parameter set by a foot display parameter setting unit 347 described later, a hand display parameter set by a hand display parameter setting unit 348 described later, and a disturbance display parameter setting unit 349 described later. Is stored.
The program information storage unit 335 stores a rehabilitation support program.

  The control unit 34 is configured using a CPU. The control unit 34 executes the rehabilitation support program, thereby recognizing the unit 341, the display control unit 342, the operation area determination unit 343, the recording unit 344, the target determination unit 345, the evaluation unit 346, the foot display parameter setting unit 347, It functions as the manual display parameter setting section 348 and the disturbance display parameter setting section 349.

  The recognizing unit 341 acquires the detection result information acquired by the input unit 31, and recognizes the target indicated by the detection result information. For example, the recognition unit 341 recognizes a person, a table, a floor, a wall, and the like existing in the detection range 800 based on the detection result information. For example, using Kinect (registered trademark), the positions of a plurality of parts on the human body of the subject EP can be recognized. For example, when recognizing the distal end of the elongated detection target on the table, the recognizing unit 341 detects the position information of the distal end per unit time. The recognizing unit 341 recognizes the movement of the position of a part of the body of the target person EP based on the position information of these characteristic points detected every moment by the sensor 100. For example, when a long object is detected, the recognition unit 341 recognizes the movement of the position of the tip of the object. The movement of the position of the tip may be treated as, for example, the position of the hand of the subject EP. In addition, the recognition unit 341 has a function of comparing the shape of the target object indicated by the detection result information with the human skeleton model to recognize the position of each part when the target object can be recognized as a human. Good. According to this function, the recognition unit 341 can recognize the position information of each part of the human body in association with the part. For example, the subject EP stands upright in front of the sensor 100. Then, the recognition unit 341 compares the detection result information detected in that state with the human skeleton model, and recognizes that the target is a human because the target has a human shape. Further, the recognition unit 341 associates the position information of each part with each part such as, for example, a left toe and its position information, a right heel and its position information, and left and right wrists and each position information. recognize. When a function of recognizing the position of each part by the skeleton model (hereinafter, referred to as a “skeleton tracking function”) is used, the recognition unit 341 can recognize the movement of the position of each part of the subject EP. As described above, the recognition unit 341 tracks a predetermined position of the target having a predetermined shape included in the detection result information, or a position of a part of the body of the target person EP and its position by a skeleton tracking function. Recognize movement. When Kinect (registered trademark) is used, it is possible to obtain coordinate information of an object existing in the detection range 800 (point group data including coordinate information of the object existing in the detection range 800 at predetermined intervals). The recognizing unit 341 analyzes the detection result information (point cloud data), and determines a surface of a point cloud having an area equal to or larger than a predetermined area and having a constant Z coordinate value (that is, a point cloud having a substantially constant Z coordinate value). Is recognized as a plane with a wall, a floor, a table, and the like. In addition, the recognition unit 341 is the detection data of which part of the detection result information is the detection data of a part (detection target part) of the body of the target person EP related to the operation area determined by the operation area determination unit 343 described later. Is recognized, and the data (detection target information) is selected.

  Here, the operation area is an area in which an operation intended for rehabilitation of the target person EP is performed. More specifically, it refers to a predetermined area in a space in which a part strongly related to an operation intended to be recovered by rehabilitation operates. Also, for example, the operation area is an area where the subject EP approaches the part in rehabilitation. In addition, for example, the operation area is an area including a position that is a target (an arrival point) of the operation in the rehabilitation of the target person EP. The operation area is a place where the target person EP performs a target operation during rehabilitation. As a specific example of the operation area, in the case of a two-dimensional area, a floor, a table, and the like can be given. For example, in the case of a floor, a part strongly related to an operation intended to recover by rehabilitation is a foot, and in the case of a table, the part is a hand. In addition, the target person EP brings his / her feet closer to the floor in the rehabilitation of the walking motion, and brings his / her hands closer to the table in the rehabilitation of the hand movement. Further, for example, in the rehabilitation of the walking motion, the floor is an area including a position (display position of the target image) which is a reaching point of the walking motion, and the table is a position (target) of the hand in the rehabilitation of hand movement. (Display position of the image). Further, the floor and the table are places where the target operation is performed during the rehabilitation of the walking motion and the rehabilitation of the hand movement, respectively. As a specific example in the case where the operation area is three-dimensional, a space having a predetermined height range based on the table surface on the table (hereinafter, referred to as “three-dimensional operation area”) can be given. For example, the output device 200 displays a target image meaning “10 cm” on a table. For example, “10 cm” may be displayed at a certain position on the table. This is a target image which means that a position at a height of 10 cm with respect to the table surface in a space directly above the position where the target image of the table is displayed is a position to reach the hand. . The position indicated by the target image is included in the three-dimensional operation area. Also in the case of this example, for example, the three-dimensional motion region is a region where a part (hand) strongly related to a motion intended to recover by rehabilitation moves. In addition, the three-dimensional operation area is an area where the hand approaches in rehabilitation of hand movement. In addition, the three-dimensional operation area is an area including a position (a position indicated by the target image) that is an arrival point of the hand movement. The three-dimensional operation area is a place where the target person EP performs a target operation during rehabilitation of hand movement. Another example of the case where the operation area is three-dimensional is a space on the output area 900. For example, when the operation area is a space on the output area 900, a target image may be projected into this space, and the target person EP may perform rehabilitation such as touching the target image with a hand.

  The display control unit 342 generates an image output by the output device 200. For example, the display control unit 342 displays a target image that is displayed in the operation area to guide the operation of the target person EP, an image including information on the evaluation result of the rehabilitation, and an operation of the detection target portion of the target person EP performed during the rehabilitation. An image or the like indicating a trajectory is generated.

  The operation area determination unit 343 determines an operation area based on the recognition result of the recognition unit 341. As described later, the method of determining the operation area may be various. The operation area determination unit 343 determines, for example, that the operation area is a floor based on a predetermined determination condition. Further, for example, the operation area determination unit 343 determines that the operation area is a table.

  When determining the operation area, the operation area determining unit 343 determines a detection target part (detection target part) related to the operation area of the subject EP. The detection target part is a part of the body that is closely related to the intended movement of rehabilitation. For example, when determining that the motion area is the floor, the motion area determination unit 343 determines the ankle of the subject EP as the detection target part. Alternatively, the operation area determination unit 343 may determine the toe of the target person EP as the detection target part. In addition, for example, when the operation area determination unit 343 determines that the operation area is a table, the operation area determination unit 343 determines the back of the hand of the target person EP as the detection target part. Alternatively, the operation area determination unit 343 may determine the fingertip of the target person EP as the detection target part.

  Note that the detection target portion related to the operation region is set in the storage unit 33 in advance, and the operation region determination unit 343 determines the detection target portion based on the information and the operation region determined by itself. For example, a part having a large operation range in a target operation of rehabilitation may be set as the detection target part. For example, in the case of rehabilitation of a walking motion, the region having a large motion range is the foot (ankle, toe, heel, etc.) of the subject EP. In the case of movement rehabilitation, the part having a large movement range is the hand (wrist, fingertip, back of hand, etc.) of the target person EP.

  Alternatively, a part close to the display position of the target image generated by the display control unit 342 may be set as the detection target part. For example, in the case of rehabilitation of a walking motion, in the present embodiment, a target image that imitates a footprint or the like is displayed at a position where the target person EP should step on the foot in the walking motion. The part to be performed is a foot (ankle, toe, heel, etc.) of the subject EP. In the case of hand movement rehabilitation, the target image is displayed at a position to be touched by the target person EP. In this case, the part close to the display position of the target image is the hand (wrist, fingertip) of the target person EP. , Back of the hand).

The recognizing unit 341 uses the detection history information storage unit 333 via the recording unit 344 to store the data of the detection target part (position information of a part of the body) determined by the operation area determination unit 343 included in the detection result information. To record.
The recording unit 344 writes and records the detection result information in the detection history information storage unit 333.

  The target determination unit 345 determines a target position of a part of the body of the target person EP based on the position of a part of the body (detection target site) of the target person EP recognized by the recognition unit 341. For example, in the case of rehabilitation of walking, the target determining unit 345 determines whether the foot of the target person EP is based on at least one of the current foot position of the target person EP and the history of the position of the foot of the target person EP. Determine the movement target position. In particular, the target determination unit 345 may determine the traveling direction of the target person EP based on the history of the positions of the feet of the target person EP, and may determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the traveling direction of the target person EP based on the direction of the feet of the target person EP, and determine the movement target position according to the determined traveling direction. Alternatively, the target determination unit 345 may determine the movement target position regardless of the traveling direction of the target person EP, for example, in a random direction or toward a predetermined goal position.

The target determining unit 345 may calculate the moving amount of the detection target part of the body of the target person EP and determine the moving target position based on the calculated moving amount. For example, when the recognition unit 341 recognizes the position of the foot of the target person EP, the target determination unit 345 calculates the stride of the target person EP based on the history of the position of the foot of the target person EP. Then, the target determination unit 345 sets the movement target position to a position moved by the stride from the current position of the foot of the subject EP. The step length of the target person EP indicates the movement amount of the foot of the target person EP, and corresponds to an example of the movement amount of the detection target portion of the body of the target person EP.
When the recognition unit 341 recognizes the movement of the position of the foot of the target person EP, the target determination unit 345 may detect the interval at which the foot of the target person EP has moved as the stride length. Alternatively, when the recognition unit 341 recognizes the position where the target person EP has set foot on the floor, the target determination unit 345 determines that the position where the target person EP has set foot on the floor next. The interval up to may be detected as a stride.

  The evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the target person EP and the movement target position. For example, the evaluation unit 346 calculates the distance between the position of the body part of the target person EP recognized by the recognition unit 341 and the movement target position determined by the target determination unit 345. Then, the evaluation unit 346 determines whether the calculated distance is equal to or less than a predetermined threshold. When determining that the distance between the detection target portion of the body of the target person EP and the movement target position is equal to or smaller than the threshold, the evaluation unit 346 evaluates that the target position has been reached. On the other hand, when it is determined that the distance between the detection target part of the body of the target person EP and the movement target position is larger than the threshold, the evaluation unit 346 evaluates that the target position has not been reached.

  The threshold value of the distance used by the evaluation unit 346 may be a constant preset in common for a plurality of target persons EP. Alternatively, the evaluation unit 346 may set a threshold value for each target person EP, such as setting one-tenth of the stride of the target person EP as the threshold value. The threshold value of the distance used by the evaluation unit 346 may be set in common for a plurality of types of rehabilitation, or may be set for each type of rehabilitation. In addition, the magnitude of the threshold value may be set so that rehabilitation in which a foot is moved is larger than rehabilitation in which a hand is moved.

  In addition, the number of steps in which the evaluation unit 346 evaluates the relative positional relationship between the position (detection target part) of the body of the subject EP and the movement target position depends on whether the target position has been reached or the target position has not been reached. The number of stages is not limited to two, but may be three or more. For example, the evaluation unit 346 uses a threshold for determining the magnitude of the deviation in the case of non-arrival of the target position in addition to the determination threshold for determining whether or not the target position has been reached. Evaluation may be performed.

The method by which the evaluation unit 346 evaluates the positional relationship between the position of the detection target part of the body of the subject EP and the movement target position is not limited to the method using the threshold. For example, the evaluation unit 346 may determine whether or not the position of the detection target portion of the body of the target person EP overlaps with the movement target position, and when it is determined that there is an overlap, evaluate that the target position has been reached.
Furthermore, for example, in the case of walking rehabilitation, the target determination unit 345 determines the movement target position on the floor surface within a certain area, and the recognition unit 341 determines the position of the foot of the target person EP by the target person EP. You may make it recognize in the range of a foot shape. Then, the evaluation unit 346 may determine whether or not the range determined as the movement target position overlaps with the range detected as the position of the foot of the subject EP.

The foot display parameter setting unit 347 sets foot display parameters in rehabilitation for moving a foot such as walking. The foot display parameters are parameters used for displaying a target image when the target person EP moves his / her feet.
The hand display parameter setting unit 348 sets hand display parameters in rehabilitation in which a hand is moved. The hand display parameter is a parameter used for displaying a target image when the target person EP moves his / her hand.
The disturbance display parameter setting unit 349 sets display parameters for disturbance. The disturbance use display parameter is a parameter used to display a disturbance that hinders the target person EP from moving his / her feet or hands to the target image when the target person EP of the rehabilitation moves his / her feet or hands to the predetermined target image. is there. Alternatively, the disturbance use display parameter is used to display disturbance that hinders the target person EP from avoiding the foot or hand from the target image when the target person EP of rehabilitation causes the target image to be avoided from the foot or hand. These are the parameters used.
For example, in rehabilitation in which footprints are displayed and the subject moves his or her feet on the footprints display, when the car approaches and hinders the movement of the feet while moving the feet, the displayed car is It is a disturbance. Also, for example, in rehabilitation in which the hand is moved to the display position of the display in the shape of an apple, when a flame is displayed while moving the hand to the position of the displayed apple and hinders the movement of the hand, the display is performed. The fire is a disturbance. Note that the disturbance may change variously according to the rehabilitation to be performed, such as the size, the display position, and the shape. Also, in the rehabilitation for moving a foot, when a subject crosses a pedestrian crossing while avoiding a car, if a hole is displayed on the pedestrian crossing to prevent the car from being avoided, the displayed hole is a disturbance. In addition, in rehabilitation in which a hand is moved, when a hand is moved so as not to touch the flame, if a cockroach or the like that restricts a moving range of a hand that the user does not want to touch is displayed, the displayed cockroach is a disturbance. .

  The operation unit 35 is configured using an existing input device such as a keyboard, a pointing device (a mouse, a tablet, or the like), a button, a touch panel, or the like. The operation unit 35 is operated by a physiotherapist or the like when inputting an instruction from a physiotherapist or the like to the rehabilitation support control device 300. The operation unit 35 may be an interface for connecting the input device to the rehabilitation support control device 300. In this case, the operation unit 35 inputs the input signal generated according to the input of the physiotherapist or the like in the input device to the rehabilitation support control device 300. The operation unit 35 may be configured as a touch panel integrated with the display unit 36.

  The display unit 36 is an image display device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, and an organic EL (Electro Luminescence) display. The display unit 36 displays images and characters. The display unit 36 may be an interface for connecting the image display device to the rehabilitation support control device 300. In this case, the display unit 36 generates a video signal for displaying an image or a character, and outputs the video signal to an image display device connected to the display unit 36.

FIG. 3 is a perspective view for explaining a first operation area by the rehabilitation support control device 300.
FIG. 3 shows a state in which the target person EP is performing rehabilitation of hand movement on the table T (first operation area). The output device 200 projects the target image M1 on the table T. The target person EP performs rehabilitation on hand movement based on the target image M1 output from the output device 200 to the output area 900.
The sensor 100 detects a position of a part of the body of the target person EP when the target person EP moves his hand within the detection range 800, and outputs detection result information to the rehabilitation support control device 300 at predetermined time intervals. .

  FIG. 4 is a plan view showing a display example of an image in the rehabilitation support system 1. FIG. 4 shows an example of an image in a case where rehabilitation of hand movement is performed using the rehabilitation support system 1. In the example of FIG. 4, an image is displayed on a projection surface (output area 900) on a desk by projecting the image of the output device 200. Specifically, target images M111a, M111b, M112a, and M112b indicating the history of the target position, history images M121a and M121b of the position of the hand of the subject EP, and an image M131a indicating the current hand position of the subject EP. And M131b, and target images M141a and M141b indicating the next target position are shown by hand-shaped images, respectively. In FIG. 4, the symbol “a” indicates a right hand, and “b” indicates a left hand. For example, the target image M111a indicates the history of the target position of the right hand. The target image M111b shows the history of the target position of the left hand.

  However, these images in the rehabilitation support system 1 are not limited to the image of the shape of the detection target part of the body. For example, the output device 200 may display the target position of the right hand with a red circle and the target position of the left hand with a blue circle, and may instead display a circle instead of the image of the shape of the detection target part of the body. Good.

  As described above, the display control unit 342 controls the output device 200 to display the target image and the history image on the table T, so that the subject EP intuitively moves his / her hand with respect to the target. Achieve results.

FIG. 5 is a perspective view for explaining a second operation area by the rehabilitation support control device 300.
FIG. 5 shows a state in which the target person EP is performing rehabilitation of a walking motion on the floor FL (second motion area). The output device 200 projects the target images M2 to M5 on the floor FL. The subject EP performs rehabilitation of the walking motion based on the target images M2 to M5 output to the output area 900 by the output device 200. For example, the target person EP performs rehabilitation to walk from the start position shown in the target images M2 to M5 to the target position. The sensor 100 detects the position of the foot of the target person EP within the detection range 800 of the target person EP, and outputs detection result information to the rehabilitation support control device 300 at predetermined time intervals.

FIG. 6 is a plan view illustrating an example of displaying an image in the rehabilitation support system 1.
FIG. 6 is a diagram illustrating another example of the display of an image in the rehabilitation support system 1. FIG. 6 illustrates an example of an image in a case where rehabilitation of walking is performed using the rehabilitation support system 1. In the example of FIG. 6, an image is displayed on the projection surface (output area 900) on the floor by projecting the image of the output device. Specifically, target images M211 to M214 indicating the history of the target position, history images M221 to M223 of the position of the foot of the subject EP, an image M231 indicating the current position of the foot of the subject EP, and the following: The target image M241 indicating the target position is shown as a foot-shaped image.

In the example of FIG. 4, the target positions of the right hand and the left hand are displayed, whereas in the example of FIG. 6, the next target image M241 of the left foot is shown, but the next target image of the right foot is shown. It has not been. This is because the right hand and the left hand can be moved simultaneously in the movement of the hand, while the right foot and the left foot are moved alternately in the walking. In addition, according to the rehabilitation support system 1 of the present embodiment, as rehabilitation of the movement of the foot, not only the walking (the operation of alternately stepping on the left and right feet) but also the continuous movement of only one foot, or the "kenkenpo" It is also possible to train the movement of the foot to move both feet at the same time as in the above. In this case, the output device 200 outputs a target image and a history image according to the motion of each foot to the output area 900.
Note that, as described with reference to FIG. 4, the image displayed by the output device 200 is not limited to a foot-shaped image. For example, the output device 200 may display the target position of the right foot with a red circle and the target position of the left leg with a blue circle, and may display a circle instead of the foot-shaped image. Contrary to the above embodiment, the target images of the left and right feet may be displayed together with the target images of the left and right feet instead of displaying the target images of the left and right feet one by one. It is also possible to display different images for the current foot position image and the past foot position history image. For example, the current foot position image may be displayed as a figure such as a circle or a square, and the past history images of the left and right feet may be displayed as a “foot trailing” figure.

  As described above, the display control unit 342 controls the output device 200 to display the target image and the history image on the floor FL, so that the subject EP intuitively moves his or her foot with respect to the target. Achieve results.

Next, the flow of detection and recording processing of rehabilitation detection target information of the target person will be described with reference to FIG.
FIG. 7 is a flowchart illustrating an example of an operation area determination process performed by the rehabilitation support control device 300.
First, the rehabilitation support system 1 is moved to an environment in which the target person EP performs rehabilitation according to the rehabilitation content that the physiotherapist or the occupational therapist intends to perform. In addition, the height of the leg 310 is appropriately adjusted. Next, the subject EP takes a posture in the detection range 800 according to the content of rehabilitation to be performed. For example, when performing rehabilitation of an arm on a table, the target person EP takes a posture of sitting on a chair and placing a hand on the table. Further, for example, when performing rehabilitation of a walking motion, the subject EP takes an upright posture. When the subject EP takes these postures, a physiotherapist or the like inputs preparation start instruction information to the rehabilitation support control device 300. The operation unit 35 acquires the preparation start instruction information (Step S10). After the physiotherapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300, the target person EP may take a posture in the detection range 800 according to the content of rehabilitation to be performed.

  Then, the sensor 100 starts detection, and the input unit 31 acquires detection result information (step S11). The input unit 31 outputs the detection result information to the control unit 34. In the control unit 34, the recognition unit 341 acquires the detection result information and recognizes the operation of the subject EP. Alternatively, the recognition unit 341 recognizes a table, a floor, and the like existing in the detection range 800. The recognition unit 341 outputs a recognition result to the operation area determination unit 343.

  Next, the operation area determination unit 343 determines an operation area by the method described with reference to FIGS. 3 and 5 (step S12). For example, if the recognition result of the recognition unit 341 indicates that the whole body of the target person EP has been recognized, the operation region determination unit 343 may determine that the operation region is the floor FL. Further, for example, if the recognition result indicates the existence of the table T, the operation region determination unit 343 may determine that the operation region is the table T. The operation area determination unit 343 can also determine the operation area using the various determination methods described above. Next, the operation area determination unit 343 determines whether the operation area is the floor FL (Step S13). When the operation area is the floor FL (Step S13; Yes), the operation area determination unit 343 sets the detection target site to the foot (for example, an ankle or a toe) of the target person EP (Step S17). When the motion region determining unit 343 sets the detection target site to the foot of the target person EP, the foot display parameter setting unit 347 sets foot display parameters in rehabilitation for moving the foot (step S18). The foot display parameters are parameters used for displaying a target image when the target person EP moves his / her feet.

  The foot display parameters include, for example, a foot distance parameter, a foot time parameter, a foot vector parameter, and the like. The foot distance parameter is used, for example, to determine a parameter (step value shown in FIG. 10) used to determine the stride indicated by the target image and a stance (including step distance) indicated by the target image. Parameters (steps shown in FIG. 10) and the like are included. The stance is two parallel lines extending in front of the subject (for example, the direction in which the front of the body or the face is facing or the direction in which the subject is going to travel) and is a predetermined portion of the two legs of the subject (for example, the tip of a heel or a thumb). ) Represents the distance between the parallel lines passing through each. The foot time parameter includes, for example, a parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and a time from when the currently displayed target image is displayed until the next timing at which the target image is displayed. Is included. The foot vector parameters include, for example, parameters used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. The foot display parameter setting unit 347 records the specified foot distance parameter, foot time parameter, foot vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, a foot-shaped target image as illustrated in FIG. 6 can be displayed according to the content of the rehabilitation of the target person EP.

In addition to this, for example, in the case where the target image is rehabilitation that is an avoidance target when the target person EP walks, the foot display parameter setting unit 347 may change the foot display parameter in accordance with information input from the operation unit 35. Set the display parameters for display. The rehabilitation in which the target image is the avoidance target when the target person EP walks is, for example, as illustrated in FIG. 11, where the rehabilitation support control device 300 determines that the target person EP walks on the pedestrian crossing. This is a rehabilitation in which a target image in the shape of an automobile is projected and the target person EP avoids the target image.
The setting of the foot display parameters and the display by the display control unit 342 using the foot display parameters will be described later in detail.
The display for setting the foot display parameter is displayed on the display unit 36 of the rehabilitation support control device 300.

When the foot display parameter setting unit 347 sets the foot display parameters, the disturbance display parameter setting unit 349 then sets the foot disturbance display parameters (step S19). For example, the rehabilitation support control device 300 executes a dedicated application, and a physiotherapist or the like inputs various information to the rehabilitation support control device 300. In the case where the target image is rehabilitation, which is a movement target of the foot when the target person EP walks, the disturbance display parameter setting unit 349 sets the disturbance display parameter in accordance with the information input to the rehabilitation support control device 300. Set.
For example, as shown in FIG. 12, the rehabilitation support control device 300 causes the rehabilitation support control device 300 to move the foot of the rehabilitation target person to the predetermined target image when the target person EP walks on the crosswalk. This is a parameter used for displaying an image of a disturbance in the shape of an obstructing vehicle as an image.

  The disturbance display parameters for the feet include, for example, a disturbance distance parameter, a disturbance time parameter, and a disturbance vector parameter. The disturbance distance parameter includes, for example, a parameter used to determine a distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance use time parameter includes, for example, a parameter indicating a time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameters include, for example, parameters used for determining the display direction of disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the designated disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334.

On the other hand, when the operation area is not the floor FL (Step S13; No). The motion region determination unit 343 sets the detection target site to the hand (for example, the back of the hand or the fingertip) (step S14). The operation area determination unit 343 outputs information on the detection target part to the recognition unit 341. Further, the operation area determination unit 343 outputs the operation area to the display control unit 342. When the operation area determination unit 343 sets the detection target site to the hand of the target person EP, the hand display parameter setting unit 348 sets hand display parameters (step S15). For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. In the case where the target image is rehabilitation, which is a movement target of the hand when the target person EP moves the hand, the hand display parameter setting unit 348 performs a manual display according to the information input from the rehabilitation support control device 300. Set parameters.
The rehabilitation in which the target image is a movement target of the hand when the target person EP moves the hand is, for example, as illustrated in FIG. This is a rehabilitation in which a target image in the shape of an apple serving as a movement target is projected, and the target person EP moves his hand to the position of the target image.

  The hand display parameters include, for example, hand position parameters, hand time parameters, hand vector parameters, and the like. The hand position parameters include, for example, parameters used to determine an area in which the target image is displayed. The manual time parameter includes a time parameter indicating a time until the currently displayed target image is displayed at a position different from the current time, and the like. The hand vector parameters include parameters used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. The hand display parameter setting unit 348 records the designated hand distance parameter, hand time parameter, hand vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, a target image as illustrated in FIG. 4 can be displayed according to the content of the rehabilitation of the target person EP.

When the hand display parameter setting unit 348 sets the hand display parameter, the disturbance display parameter setting unit 349 sets the hand disturbance display parameter (step S16).
For example, the rehabilitation support control device 300 executes a dedicated application, and an occupational therapist or the like inputs various information to the rehabilitation support control device 300. In the case where the target image is a rehabilitation that is a movement target of the hand when the target person EP moves the hand, the disturbance use display parameter setting unit 349 performs the display of the disturbance use according to the information input to the rehabilitation support control device 300. Set parameters.
For example, as shown in FIG. 9, the hand abuse display parameter indicates that when the rehabilitation support control device 300 moves the hand to the position of the target image which is the character selected by the target person EP, the hand disturbance is prevented. This is a parameter used to project a disturbance that is a character that should not be selected as an image.
The setting of the manual display parameters and the display by the display control unit 342 using the manual display parameters will be described later in detail.
The display for setting the manual display parameters is displayed on the display unit 36 of the rehabilitation support control device 300.

  The hand disturbance display parameters include, for example, a disturbance distance parameter, a disturbance time parameter, a disturbance vector parameter, and the like. The disturbance distance parameter includes, for example, a parameter used to determine a distance from the currently displayed disturbance to the disturbance displayed at the next timing. Further, the disturbance use time parameter includes, for example, a parameter indicating a time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameters include, for example, parameters used for determining the display direction of disturbance displayed at the next timing based on the currently displayed disturbance. The disturbance display parameter setting unit 349 records the designated disturbance distance parameter, disturbance time parameter, disturbance vector parameter, and the like in the parameter information storage unit 334. Thus, the actual rehabilitation preparation process is completed. Next, the subject EP starts rehabilitation in the operation area determined in the preparation processing.

Next, a process of recognizing the target person EP during rehabilitation will be described with reference to FIG.
FIG. 13 is a flowchart illustrating an example of a process of recognizing the target person EP by the rehabilitation support control device 300.
The subject EP who performs rehabilitation enters the detection range 800 and starts rehabilitation. Further, the physiotherapist or the like inputs rehabilitation start instruction information to the rehabilitation support control device 300 along with the name, gender, height, and the like of the target person EP. Then, the operation unit 35 acquires the rehabilitation start instruction information (Step S20). Next, the display control unit 342 generates a target image according to the operation area. For example, when the operation area is the floor FL, the display control unit 342 generates a target image displaying a last. Further, the target determining unit 345 calculates coordinate information of a position where the target image is displayed. The position at which the target image is displayed may be changed according to the foot display parameters set in step S18. When the operation area is a table, the display control unit 342 generates a target image displaying a target to be touched by the target person EP with his or her hand. Further, the target determining unit 345 calculates coordinate information of the display position. The output unit 32 acquires the information (the target image and the display position) and instructs the output device 200 to output. The output device 200 displays the target image generated by the display control unit 342 in the output area 900 according to the instruction of the output unit 32 (Step S21). As described above, when the output device 200 displays the target image in the operation area, the target person EP performs an operation of moving a body part related to the detection target part to the display position. For example, when the target image of the last is displayed, the target person EP moves his / her foot to the position where the last is displayed. Further, for example, when the target target image is displayed on the table, the target person EP moves his hand to the position where the target image is displayed, and touches the table.
The sensor 100 continues to detect the movement of the subject EP and outputs the same to the rehabilitation support control device 300. In the rehabilitation support controller 300, the input unit 31 acquires the detection result information (Step S22), and outputs the detection result information to the control unit 34.

  In the control unit 34, the recognition unit 341 acquires the detection result information. Upon acquiring the detection result information, the recognizing unit 341 selects the data of the detection target part from the information. For example, when Kinect (registered trademark) is used, the recognizing unit 341 acquires, as detection result information, position information on a plurality of parts of the target person EP. The recognition unit 341 selects the position information of the detection target part determined by the operation area determination unit 343 from the information. For example, when the detection target part determined by the operation area determination unit 343 is a foot (the operation area is a floor), the recognition unit 341 selects position information of a foot (for example, an ankle) from the detection result information. Further, for example, when the detection target part determined by the operation area determination unit 343 is a hand (the operation area is a table), the recognition unit 341 selects position information of the hand (for example, the back of the hand) from the detection result information. The recognizing unit 341 outputs the selected detection target site and its position information to the recording unit 344. The recording unit 344 records the detection result information of the detection target part in the detection history information storage unit 333 (Step S23). As described above, even when the detection result information includes the whole body data relating to the motion of the target person EP, the recognizing unit 341 determines which of the data included in the detection result information is the detection target associated with the operation area. Recognize whether the data is site data and select that data. Then, the recording unit 344 records only the detection result information (position information) of the selected detection target part.

Next, the display control unit 342 generates a history image and outputs it to the output unit 32. The output device 200 displays the history image in the output area 900 according to the instruction of the output unit 32 (Step S24).
Next, the control unit 34 determines whether or not to end the detection processing (Step S25). For example, when a physiotherapist or the like inputs rehabilitation end instruction information, the control unit 34 acquires the information via the operation unit 35 and determines that the detection process is to be ended. In addition, when the target person EP goes out of the detection range 800, when the hand of the target person EP goes out of the detection range 800, or when a preset rehabilitation execution time has elapsed. Also, the control unit 34 determines that the detection processing is to be ended.
If it is determined that the processing is not to be terminated (Step S25; No), the processing from Step S21 is repeated.
When it is determined that the processing is to be ended (Step S25; Yes), the control unit 34 ends the processing of generating the target image and the processing of recording the data of the detection target part. The display control unit 342 calculates the operation result of the target person EP in the current rehabilitation (for example, the detection target part An image that displays the locus of the movement) may be generated, and the output device 200 may display this image.

Next, a process of setting parameters during rehabilitation will be described with reference to FIG.
FIG. 14 is a flowchart illustrating an example of parameter setting in rehabilitation using the rehabilitation support system 1.
First, before performing rehabilitation, a physiotherapist or the like sets parameters (foot display parameters and the like) for the subject EP (step S30). Specifically, the physiotherapist or the like refers to a display screen (display unit 36) provided in the rehabilitation support control device 300 and inputs various parameters to the rehabilitation support control device 300. Next, the physiotherapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300 and performs rehabilitation (step S31). As described above, the operation area determination unit 343 of the rehabilitation support control device 300 determines the operation area and sets the detection target part. When the operation area is the floor FL, the foot display parameter setting unit 347 sets the foot display parameters input in step S30. In addition, the disturbance display parameter setting unit 349 sets the disturbance display parameters for the foot input in step S30. On the other hand, when the operation area is the table T, the hand display parameter setting unit 348 sets the hand display parameters input in step S30, and the disturbance display parameter setting unit 349 sets the hand display parameters input in step S30. Set the display parameters for disturbance. When the parameter setting by the foot display parameter setting unit 347 or the like is completed, the display control unit 342 generates a target image or the like according to the operation area, and the output device 200 displays those images. The target person EP performs rehabilitation based on the displayed target image. When a series of predetermined rehabilitation programs ends, the display control unit 342 generates an image including the rehabilitation result, and the output device 200 displays the rehabilitation result (step S32). The rehabilitation result is, for example, the actual value of the evaluation result through a rehabilitation program by the evaluation unit 346. The rehabilitation result may be displayed, for example, as a ratio of the number of times that the evaluation unit 346 has evaluated that the target position has been reached with respect to the total number of displayed target images.

  Next, a physiotherapist determines whether to continue rehabilitation. For example, a physiotherapist may determine whether to continue rehabilitation based on whether rehabilitation has been performed for a predetermined time. Alternatively, the physiotherapist or the like may determine whether to continue rehabilitation based on the degree of fatigue of the subject EP and the degree of achievement indicated by the rehabilitation result. If it is determined that rehabilitation is not to be continued (step S33; No), the flowchart ends.

When it is determined that rehabilitation is to be continued (Step S33; Yes), the physiotherapist determines whether the parameter setting needs to be reviewed (Step S34). For example, if the rehabilitation result of the subject EP exceeds the expectation, the physiotherapist determines that it is necessary to review the parameter setting so as to require a more difficult operation. Or, if the movement of the hand or the foot of the subject EP is as expected and it is considered that it is better to train the movement of the hand or the foot of the same difficulty again, the physiotherapist, Judge that it is not necessary to review the parameter settings. When it is determined that the parameter setting does not need to be reviewed (step S34; No), the physiotherapist or the like inputs start instruction information to the rehabilitation support control device 300, and repeats the processing from step S31. Note that when rehabilitation is repeatedly performed on the same target person EP in the same operation area, the operation area determination processing by the operation area determination unit 343 may be omitted.
When it is determined that the parameter setting needs to be reviewed (Step S34; Yes), the physiotherapist examines a new parameter (Step S35). For example, when the rehabilitation result is good this time, the physiotherapist or the like examines a parameter that requires a more difficult movement. Alternatively, if the rehabilitation result of this time is not good, a physiotherapist or the like examines a parameter that requires an operation with low difficulty. When the parameters have been considered, the physiotherapist or the like sets the new parameters (step S30), and repeats the processing from step S31. According to the rehabilitation support system 1 of the present embodiment, parameters can be set arbitrarily, so that the target person EP can perform rehabilitation according to physical condition and ability. In the above description, the parameter input / setting is executed with reference to the display screen (display unit 36) provided in the rehabilitation support control device 300. However, the parameter setting screen output from the output device 200 is referred to. Alternatively, various parameters may be input and set on a setting screen displayed on a floor or a table.

  According to the present embodiment, one record of the motion information (detection target information of the present embodiment) of the subject EP in the rehabilitation on the floor FL performed by the physiotherapist and the rehabilitation on the table T performed by the occupational therapist Can be performed by the rehabilitation support system 1. For example, even if the place where the rehabilitation of the walking motion is performed and the table T where the rehabilitation of the movement of the hand are present at distant positions, the rehabilitation support system 1 is moved to detect the motion of the target person EP at each position. Then, the operation information can be recorded. Further, in a case where the rehabilitation of hand movement is performed by setting the table T at a place where the rehabilitation of the walking motion is performed, the rehabilitation of the walking motion is performed only by making the motion region determining unit 343 determine the motion region before the rehabilitation. And a mode for detecting rehabilitation of hand movement can be switched. Therefore, it is not necessary to introduce a rehabilitation support control device for each type of rehabilitation. In addition, when a plurality of rehabilitation support control devices are introduced, it is general that the data structure of data regarding the subject EP output by each device is different. If the data structure is different, for example, when analyzing the rehabilitation history of a certain subject EP, the handling of data becomes complicated and it is difficult. In the present embodiment, the data to be recorded with respect to the target person EP is positional information of one part of both hands or both feet, and can be recorded and processed with a common data structure. Therefore, the analysis of the recorded data can be shared, and the data can be easily handled. In addition, no matter what kind of operation the target person EP performs, the recognition processing and the recording processing are performed by narrowing down the pair of left and right data of the part related to the target operation of the rehabilitation, so that the processing is speeded up and simplified. Can be. In addition, in general motion capture, there is a problem that the target person EP needs to wear a marker to detect the movement of the target person EP, which is troublesome. However, the rehabilitation support system 1 of the present embodiment has a problem. If the target person EP does not need to wear the marker, the operation of the target person EP can be easily detected.

  The rehabilitation support control device 300 is a device that enables the display parameters for the feet to be changed with the recovery of the function of the feet. In addition, the rehabilitation support control device 300 is a device that can change the hand display parameters in accordance with the recovery of the hand function. Specifically, with the restoration of the function of the feet of the subject EP, foot display parameters suitable for the state of the subject EP are set, and display by the display control unit 342 using the set foot display parameters is performed. Done. In addition, with the restoration of the hand function of the target person EP, the hand display parameters suitable for the state of the target person EP are set, and the display is controlled by the display control unit 342 using the set hand display parameters. Hereinafter, these settings and display will be described in detail.

(Details of foot display parameter setting and hand display parameter setting)
The foot display parameter setting section 347 includes a foot distance parameter setting section, a foot time parameter setting section, a foot vector parameter setting section, a foot position parameter setting section, a foot movement number parameter setting section, and a foot timing parameter setting. And a speed parameter setting unit for a foot.

  The foot distance parameter setting unit sets a foot distance parameter. The foot distance parameter is one of the foot display parameters relating to the moving distance of the foot of the target person EP.

  The foot time parameter setting unit sets a foot time parameter. The foot time parameter is one of the foot display parameters related to the moving time of the foot of the subject person EP.

  The foot vector parameter setting unit sets the foot vector parameters. The foot vector parameter is one of the foot display parameters related to the moving direction of the foot of the target person EP.

  The foot position parameter setting unit sets a foot position parameter. The foot position parameter is one of the foot display parameters relating to the movement position of the foot of the target person EP.

  The foot movement number parameter setting unit sets a foot movement number parameter. The foot movement number parameter is one of the foot display parameters related to the number of foot movements of the target person EP.

  The foot timing parameter setting unit sets a foot timing parameter. The foot timing parameter is one of the foot display parameters related to the movement timing of the foot of the subject person EP. The foot timing parameter is a parameter set along the time axis, similarly to the foot time parameter.

  The foot speed parameter setting unit sets a foot speed parameter. The foot speed parameter is one of the foot display parameters related to the moving speed of the foot of the subject person EP. The foot speed parameter is a parameter that combines the foot time parameter and the foot distance parameter, calculates the moving speed by dividing the distance by time, and sets the moving speed.

  The hand display parameter setting unit 348 sets hand display parameters in rehabilitation in which a hand is moved. The hand display parameter is a parameter used for displaying a target image when the target person EP moves his / her hand.

  The manual display parameter setting section 348 includes a manual distance parameter setting section, a manual vector parameter setting section, a manual time parameter setting section, a manual timing parameter setting section, a manual position parameter setting section, and a manual movement number parameter setting. And a manual speed parameter setting unit.

  The hand position parameter setting unit sets a hand position parameter. The hand position parameter is one of the hand display parameters relating to the movement position of the hand of the target person EP.

  The manual time parameter setting section sets a manual time parameter. The manual time parameter is one of the manual display parameters relating to the moving time of the hand of the target person EP.

  The hand vector parameter setting unit sets a hand vector parameter. The hand vector parameter is one of the hand display parameters relating to the moving direction of the hand of the target person EP.

  The hand distance parameter setting unit sets a hand distance parameter. The hand distance parameter is one of the hand display parameters relating to the moving distance of the hand of the target person EP.

  The hand movement number parameter setting unit sets a hand movement number parameter. The hand movement number parameter is one of the hand display parameters related to the number of hand movements of the target person EP.

  The manual timing parameter setting section sets a manual timing parameter. The hand timing parameter is one of hand display parameters related to the movement timing of the hand of the target person EP. The manual timing parameter is a parameter set along the time axis similarly to the manual time parameter.

  The manual speed parameter setting unit sets a manual speed parameter. The hand speed parameter is one of the foot display parameters related to the moving speed of the hand of the target person EP. The manual speed parameter is a parameter that combines the manual time parameter and the manual distance parameter, calculates the moving speed by dividing the distance by time, and sets the moving speed.

(Display by display control unit using display parameters for foot)
(When moving the foot to the position of the target image)
When the target image is rehabilitation to be a foot movement target when the target person EP moves the foot, the foot display parameter setting unit 347 changes the foot display parameter according to the information input from the operation unit 35. Set.
The rehabilitation in which the target image is a movement target of the foot when the target person EP moves the foot is, for example, as illustrated in FIG. 5, when the display control unit 342 determines that the target person EP moves the foot. A target image having the shape of a foot to be a movement target of the foot is displayed, and the subject EP is rehabilitating the movement of the foot to the position of the target image.

Specifically, the foot distance parameter setting unit of the foot display parameter setting unit 347 sets the foot distance parameter.
More specifically, the foot distance parameter setting unit specifies a foot distance parameter (the value of the step shown in FIG. 10) used to determine the stride indicated by the target image, and specifies the specified foot distance parameter. Is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image indicating the stride in rehabilitation on the output device 200 using the foot distance parameter.
More specifically, the foot distance parameter setting unit specifies and specifies the foot distance parameter (step distance shown in FIG. 10) used to determine the stance of the left and right feet indicated by the target image. The written foot distance parameter is written to the parameter information storage unit 334.
Thus, the display control unit 342 can cause the output device 200 to display a target image indicating the stance of the left and right feet in rehabilitation using the foot distance parameter.
More specifically, the foot distance parameter setting unit specifies a foot distance parameter used to determine a range of a distance in which a target image is displayed, and stores the specified foot distance parameter in parameter information storage. Write to the unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the foot distance parameter.

  The display control unit 342 causes the output device 200 to display the target image in rehabilitation using the foot distance parameter as described above, so that the narrower the foot stance, the narrower the support base surface becomes, and the difficulty of rehabilitation increases, In addition, if the moving distance of the foot is too long, it becomes unstable and the difficulty of rehabilitation increases. By changing the difficulty level in this way, the target person can receive rehabilitation suited to his or her own difficulty level.

Further, specifically, the foot time parameter setting unit of the foot display parameter setting unit 347 sets the foot time parameter.
More specifically, the foot time parameter setting unit determines that the display of the target image is stopped when the foot of the subject person EP is not moved to the position of the target image within a predetermined time after the target image is displayed. A foot time parameter indicating a predetermined time used for the operation is designated and written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the display time of the target image in rehabilitation using the time parameter for the foot.
More specifically, the foot time parameter setting unit specifies a foot time parameter indicating a total time during which the target image is displayed and rehabilitation is performed, and writes the parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total rehabilitation time using the time parameters for the feet.
More specifically, the foot time parameter setting unit designates a foot display parameter indicating a time from when the currently displayed target image is displayed to when the next target image is displayed. Then, the data is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the next target image on the output device 200 at the next display timing in rehabilitation using the time parameters for the feet.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the time parameters for the feet as described above, so that the subject EP having a disease in which the feet such as “freezing feet” cannot be put out well can be added to the feet. Can be notified of the time interval, timing, etc. Therefore, the target person EP can learn a time interval, a timing, and the like in which the foot is easily put out in the rehabilitation.

Also, specifically, the foot vector parameter setting unit of the foot display parameter setting unit 347 sets the foot vector parameter.
More specifically, the foot vector parameter setting unit is used to determine the display direction of the next target image displayed at the next timing based on the currently displayed target image. Is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image indicating whether the foot is moved linearly or in a curved manner in the rehabilitation using the foot vector parameter on the output device 200.
More specifically, the foot vector parameter setting unit is a foot vector used to determine a direction from the heel of the right foot toward the toe and a direction from the heel of the left foot to the toe indicated by the target image. A parameter is designated and written to the parameter information storage unit 334.
With this, the display control unit 342 can cause the output device 200 to display a target image indicating whether the directions of the left and right feet of the target image in rehabilitation are the same or different, using the foot vector parameters. it can.

The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the vector parameters for the foot as described above, thereby giving an instruction to the subject person EP swaying left and right to linearly move the foot. it can. Therefore, the target person EP can perform rehabilitation that moves more clearly and linearly.
In addition, the display control unit 342 displays the target image in the rehabilitation using the foot vector parameter on the output device 200 as described above, so that the subject EP who can perform the linear movement can perform the curvilinear movement this time. For example, rehabilitation with higher difficulty can be performed. Therefore, the subject EP can perform rehabilitation that is similar to the movement of the feet in daily life.

Further, specifically, the foot position parameter setting unit of the foot display parameter setting unit 347 may set the foot position parameter.
More specifically, the foot position parameter setting unit specifies a foot position parameter used to determine an area in which the target image is displayed, and writes the foot position parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display the target image in which the area displayed in the rehabilitation is limited, using the foot position parameter.

  The display control unit 342 causes the output device 200 to display the target image in rehabilitation using the foot position parameters as described above, so that correct parameter setting can be performed even when the therapist (therapist, therapist) changes. .

Further, specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit specifies a foot timing parameter used to determine a timing at which a target image indicating a continuous right foot movement target or a continuous left foot movement target is displayed. , In the parameter information storage unit 334.
With this, the display control unit 342 uses the timing parameters for the foot to display the target image in the rehabilitation at the same time on the left and right, alternately on the left and right, or continuously display the right or left. Furthermore, the output device 200 may display either the side step that moves in the lateral direction at the position to guide, or the cross step that moves by crossing the feet at the position to guide. it can.

The display control unit 342 displays the target image in rehabilitation on the output device 200 using the foot movement number parameter as described above, thereby performing rehabilitation within a safe number of times for a subject EP without endurance or the like. Can be.
In addition, the display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot movement number parameter as described above, and assumes a daily life, such as a specific home, such as 10 steps to the toilet. Rehabilitation assuming return is possible.

Further, specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit specifies a foot timing parameter used to determine a timing at which a target image indicating a continuous right foot movement target or a continuous left foot movement target is displayed. , In the parameter information storage unit 334.
With this, the display control unit 342 uses the foot timing parameter to determine whether the target image is displayed left and right simultaneously, alternately left and right, or continuously displayed right or left in rehabilitation. Any of them can be displayed on the output device 200.

  The display control unit 342 displays the target image in the rehabilitation using the foot timing parameter on the output device 200 as described above, so that not only the left and right feet are alternately moved, but also the right foot or the left foot is continuously performed a plurality of times. Rehabilitation to move. Therefore, the target person EP can move the feet as preventive rehabilitation so that the movement of the feet does not become difficult.

Further, specifically, the foot speed parameter setting unit of the foot display parameter setting unit 347 may set the foot speed parameter.
More specifically, the foot speed parameter setting unit is used to determine a rate of change at which a target image indicating a moving target of the right foot or a moving target of the left foot is displayed and a display position of the target image changes per unit time. The foot speed parameter to be used is designated and written to the parameter information storage unit 334.
For example, by specifying the foot speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified foot moving speed, and together with the foot speed parameter, the selected distance and The foot distance parameter and the foot time parameter corresponding to each of the times are written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 in the rehabilitation by using the foot speed parameter in the same manner as when the foot distance parameter and the foot time parameter are used.

(When moving the foot to a position where it does not touch the target image)
In addition, for example, when the target image performs rehabilitation as an avoidance target when the target person EP moves his / her feet, the foot display parameter setting unit 347 responds to the information input from the operation unit 35, Set the display parameters for display.
The rehabilitation in which the target image is an avoidance target when the target person EP moves his / her feet is, for example, when the display control unit 342 determines that the target person EP moves his / her feet on the crosswalk as shown in FIG. Is a rehabilitation in which a target image in the shape of an automobile serving as an avoidance target is projected on the target object EP and the target person EP avoids the target image.

  By this rehabilitation, the target person EP can safely practice such as avoiding when a car comes in daily life. The rehabilitation can be performed by the display control unit 342 displaying an image having contents that have not been displayed in the rehabilitation up to now.

Specifically, the foot distance parameter setting unit of the foot display parameter setting unit 347 sets the foot distance parameter.
More specifically, the foot distance parameter setting unit specifies the foot distance parameter used to determine the distance from the currently displayed target image to the target image displayed at the next timing, and specifies The written foot distance parameter is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set for each timing in rehabilitation using the foot distance parameter.
More specifically, the foot distance parameter setting unit is used to determine a distance from the currently displayed target image to a target image different from the target image displayed at the next timing. The parameter is designated, and the designated foot distance parameter is written in the parameter information storage unit 334.
More specifically, the foot distance parameter setting unit specifies a foot distance parameter used to determine a range of a distance in which a target image is displayed, and stores the specified foot distance parameter in parameter information storage. Write to the unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the foot distance parameter.
Thus, the display control unit 342 can cause the output device 200 to display different target images at the distance set for each timing in rehabilitation using the foot distance parameter.

The display control unit 342 causes the output device 200 to display a target image in rehabilitation using the foot distance parameter as described above, so that an appropriate parameter corresponding to the physical ability of each target person EP can be set.
In addition, the display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot distance parameter as described above, so that even the same subject EP is set to be farther than the last time. By increasing the difficulty level, it is possible to perform rehabilitation for the purpose of a challenge.

Further, specifically, the foot time parameter setting unit of the foot display parameter setting unit 347 sets the foot time parameter.
More specifically, the foot time parameter setting unit specifies the foot time parameter indicating the time until the currently displayed target image is displayed at a position different from the current time, and writes the parameter in the parameter information storage unit 334. .
Accordingly, the display control unit 342 can display the target image on the output device 200 at the set movement and stop times in the rehabilitation using the time parameters for the feet.
More specifically, the foot time parameter setting unit specifies a foot time parameter indicating a total time during which the target image is displayed and rehabilitation is performed, and writes the parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total rehabilitation time using the time parameters for the feet.
More specifically, the foot time parameter setting unit specifies a foot time parameter indicating the time from the end of the display of the currently displayed target image to the display of a new target image. , In the parameter information storage unit 334.
Accordingly, the display control unit 342 can display a new target image on the output device 200 at the elapsed time after avoiding the target image set in the rehabilitation, using the foot time parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the time parameters for the feet as described above, thereby displaying a large time difference, for example, when the subject EP walks, the next target appears. Rehabilitation, such as asking for a stop or stopping in the air, is possible. Therefore, the target person EP can practice not to move at his / her own timing, and can receive rehabilitation that is useful for quick action training and the like.

Also, specifically, the foot vector parameter setting unit of the foot display parameter setting unit 347 sets the foot vector parameter.
More specifically, the foot vector parameter setting unit specifies the foot vector parameter used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. Then, the designated foot vector parameter is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display the target image indicating the moving direction in the rehabilitation using the foot vector parameters.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the vector parameters for the foot as described above, so that it is possible to set the motion direction that the target person EP wants to perform intensively. Therefore, the subject EP can receive high-quality rehabilitation.

Further, specifically, the foot position parameter setting unit of the foot display parameter setting unit 347 may set the foot position parameter.
More specifically, the foot position parameter setting unit specifies a foot position parameter used to determine an area in which the target image is displayed, and writes the foot position parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 while limiting the area set in the rehabilitation using the foot position parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the foot position parameters as described above, so that the movable range of the target person EP can be narrowed. Therefore, by appropriately setting the movable range of the target person EP to be equal to or more than the current maximum range of the target person EP by rehabilitation, it is possible to appropriately bring out the physical ability.

Further, specifically, the foot movement number parameter setting unit of the foot display parameter setting unit 347 may set the foot movement number parameter.
More specifically, the foot movement number parameter setting unit specifies a foot position parameter used to determine the number of times target images having different determination contents are displayed, and writes the parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display target images having different determination contents in the rehabilitation using the foot position parameters.

Further, specifically, the foot timing parameter setting unit of the foot display parameter setting unit 347 may set the foot timing parameter.
More specifically, the foot timing parameter setting unit specifies a foot timing parameter used to determine the timing at which different target images indicating different moving directions are displayed, and writes the parameter in the parameter information storage unit 334.
Accordingly, the display control unit 342 causes the output device 200 to display different target images indicating different moving directions in rehabilitation by changing the display ratio (frequency) for each moving direction using the foot timing parameters. Can be.

  The display control unit 342 displays the target image in rehabilitation on the output device 200 using the timing parameters for the feet as described above, so that the subject EP can intentionally perform different left and right foot movements. Therefore, the subject EP can practice the movement of the foot different from the walking in which the foot is moved left and right alternately by the rehabilitation.

Further, specifically, the foot speed parameter setting unit of the foot display parameter setting unit 347 may set the foot speed parameter.
More specifically, the foot speed parameter setting unit determines a change rate at which the display position of the target image is changed per unit time when displaying a target image indicating the movement target of the right foot or the movement target of the left foot. The speed parameter for the foot used for this is designated and written in the parameter information storage unit 334.
For example, by specifying the foot speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified foot moving speed, and together with the foot speed parameter, the selected distance and The foot distance parameter and the foot time parameter corresponding to each of the times are written to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 in the rehabilitation by using the foot speed parameter, as in the case of using the foot distance parameter and the foot time parameter.

(Display by display control unit using manual display parameters)
(When moving the hand to the position of the target image)
The hand display parameter setting unit 348 sets the hand display parameter according to the information input from the operation unit 35 when the target image is the rehabilitation that is the movement target of the hand when the target person EP moves the hand. Set.
The rehabilitation in which the target image is a movement target of the hand when the target person EP moves the hand is, for example, as illustrated in FIG. This is a rehabilitation in which a target image in the shape of an apple serving as a movement target is projected, and the target person EP moves his hand to the position of the target image.

  In the past rehabilitation, the movement target of the hand was unclear, and there were many monotonous movements. However, in the rehabilitation by the rehabilitation support control device 300, the movement target of the hand becomes clear. Therefore, the target person EP can independently (actively) move his / her hand.

Specifically, the hand position parameter setting unit of the hand display parameter setting unit 348 sets the hand position parameters.
More specifically, the manual position parameter setting unit specifies manual position parameters used to determine an area in which the target image is displayed, and writes the specified parameters to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 limited to the area set in the rehabilitation, using the hand position parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the hand position parameters as described above, so that the rehabilitation can be repeatedly performed only in an area where the hand is difficult to move. . Therefore, the target person EP can receive a highly effective hand movement rehabilitation.

Further, specifically, the manual time parameter setting unit of the manual display parameter setting unit 348 sets a manual time parameter.
More specifically, the manual time parameter setting unit determines that the display of the target image is to be stopped when the hand of the target person EP is not moved to the position of the target image within a predetermined time after the target image is displayed. Is designated, and the designated parameter is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 for the display time set in the rehabilitation using the manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and writes the specified parameter to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total rehabilitation time using the manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual display parameter indicating a time from when the currently displayed target image is displayed until the next timing at which the target image is displayed, The designated parameter is written to the parameter information storage unit 334.
Thereby, the display control unit 342 can display the target image on the output device 200 at the next display timing set in the rehabilitation using the manual time parameter.

  The display control unit 342 causes the output device 200 to display the target image in rehabilitation using the hand distance parameter as described above, so that the subject EP is aware of the time limit and maximizes the ability of the subject EP. It becomes possible.

Further, specifically, the hand vector parameter setting unit of the hand display parameter setting unit 348 sets the hand vector parameters.
More specifically, the hand vector parameter setting unit is configured to determine the display direction of the next target image displayed at the next timing based on the currently displayed target image. Is written in the parameter information storage unit 334.
Thereby, the display control unit 342 causes the output device 200 to display the target image in the rehabilitation by either displaying the hand in the front-rear direction or the hand in the left-right direction using the hand vector parameter. be able to.
More specifically, the hand vector parameter setting unit specifies a hand vector parameter used to determine the right hand direction and the left hand direction indicated by the target image, and specifies the specified parameter. Is written in the parameter information storage unit 334.
Accordingly, the display control unit 342 displays the target image on the output device 200 by using the hand vector parameters to make the moving directions of the left and right hands of the target image in rehabilitation the same or different directions. Can be done.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the hand vector parameters as described above, so that the rehabilitation of the target person EP in a weak direction can be intensively performed. Although the direction in which the hand moves differs depending on the subject EP, this enables intensive rehabilitation, and the subject EP can receive high-quality treatment.

Further, specifically, the hand distance parameter setting unit of the hand display parameter setting unit 348 may set the hand distance parameter.
More specifically, the manual distance parameter setting unit specifies a manual distance parameter used to determine an interval of the distance at which the target image is displayed, and writes the specified parameter to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set in the rehabilitation using the hand distance parameter. Further, thereby, the display control unit 342 can cause the output device 200 to display different target images at the distance set in the rehabilitation using the hand distance parameter.
More specifically, the manual distance parameter setting unit specifies a manual distance parameter used to determine a range of the distance in which the target image is displayed, and stores the specified manual distance parameter in parameter information storage. Write to the unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the hand distance parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the hand distance parameter as described above, so that the distance of the hand extended by the target person EP in the rehabilitation can be changed. The distance of the hand that can be extended differs depending on the target person EP, and the distance that the hand can be extended becomes longer by repeating rehabilitation even for the same target person EP. Since "goal setting" in rehabilitation is to approach a place that is slightly out of reach, it is useful to be able to change the distance of the extended hand in rehabilitation.

Further, specifically, the hand movement number parameter setting unit of the hand display parameter setting unit 348 may set the hand movement number parameter.
More specifically, the hand movement number parameter setting unit specifies a hand movement number parameter used to determine the number of times target images having different determination contents are displayed, and stores the specified parameter in a parameter information storage unit. Write to 334.
Accordingly, the display control unit 342 can display the target images having different determination contents in the rehabilitation on the output device 200 the set number of times using the hand movement number parameter.

  The display control unit 342 displays the target image in rehabilitation on the output device 200 using the hand movement number parameter as described above, so that the target person EP without endurance and the target person EP with motion restriction are also limited in the number of times. Can be given. Therefore, the target person EP can safely receive rehabilitation. Further, more complicated rehabilitation such as causing the target person EP to count and store the number of times of movement can be performed.

Further, specifically, the manual timing parameter setting unit of the manual display parameter setting unit 348 may set a manual timing parameter.
More specifically, the manual timing parameter setting unit specifies a manual timing parameter used to determine a timing at which a target image indicating a continuous right hand movement target or a continuous left hand movement target is displayed. Then, the designated parameter is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 displays the target image on the output device 200 by using the manual timing parameter to alternately display left and right in rehabilitation or continuously display right or left. Can be done.

  The display control unit 342 displays a target image in rehabilitation using the hand distance parameter on the output device 200 as described above, thereby performing rehabilitation with a high degree of difficulty in multitasking such as moving a hand alternately left and right. Can be. The target person EP can perform rehabilitation by selecting a difficulty level that suits his / her level, and can select various difficulty levels such as alternating left and right, so the target person EP who performs rehabilitation many times Even in this case, it is possible to prevent the pattern from being stored.

Further, specifically, the manual speed parameter setting unit of the manual display parameter setting unit 348 may set a manual speed parameter.
More specifically, the hand speed parameter setting unit determines the rate of change at which the display position of the target image is changed per unit time when displaying the target image indicating the moving target of the right hand or the moving target of the left hand. Is specified in the parameter information storage unit 334.
For example, by specifying the hand speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified hand movement speed. The manual distance parameter and the manual time parameter corresponding to each of the times are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 using the hand speed parameter in the rehabilitation, as in the case of using the hand distance parameter and the hand time parameter.

(When moving the hand to a position where it does not touch the target image)
In addition, for example, the hand display parameter setting unit 348 performs hand rehabilitation in accordance with information input from the operation unit 35 when the target image performs rehabilitation as an avoidance target when the target person EP moves the hand. Set the display parameters for display.
The rehabilitation in which the target image is an avoidance target when the target person EP moves his hand is, for example, as illustrated in FIG. 15, the display control unit 342 sets the flame to be the avoidance target when the target person EP moves his hand. Is a rehabilitation in which a target image having the shape of is projected and the target person EP avoids the target image.

  By this rehabilitation, the target person EP can safely practice, for example, avoiding hands from fire in daily life. This rehabilitation can be performed in a safe state even for a subject EP whose cognitive function is reduced and “fire” cannot be recognized as dangerous.

Specifically, the hand position parameter setting unit of the hand display parameter setting unit 348 sets the hand position parameters.
More specifically, the manual position parameter setting unit specifies manual position parameters used to determine an area in which the target image is displayed, and writes the specified parameters to the parameter information storage unit 334.
Thereby, the display control unit 342 can display the target image limited to the area set in the rehabilitation on the output device 200 using the hand position parameter.

The display control unit 342 displays a target image in rehabilitation on the output device 200 using the hand position parameters as described above, so that the target person EP whose reach is limited due to hemiplegia or the like is limited. Can be limited to rehabilitation.
In addition, the display control unit 342 displays the target image in rehabilitation on the output device 200 using the hand position parameters as described above, so that the target person EP whose reach is limited due to hemiplegia or the like is limited. In addition, as a challenge, it is possible to perform a practice in which a hand is out of reach.

Further, specifically, the manual time parameter setting unit of the manual display parameter setting unit 348 sets a manual time parameter.
More specifically, the manual time parameter setting unit specifies the manual time parameter indicating the time until the currently displayed target image is displayed at a position different from the current time, and sets the designated parameter as a parameter. The information is written into the information storage unit 334.
Accordingly, the display control unit 342 can cause the output device 200 to display a target image indicating the movement and stop times set in rehabilitation using the manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual time parameter indicating the total time during which the target image is displayed and rehabilitation is performed, and writes the specified parameter to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 during the total rehabilitation time using the manual time parameter.
More specifically, the manual time parameter setting unit specifies a manual time parameter indicating a time from when the currently displayed target image is displayed until the next timing when the target image is displayed, The designated parameter is written to the parameter information storage unit 334.
With this, the display control unit 342 can display a new target image on the output device 200 when the set time has elapsed after avoiding the target image in rehabilitation using the manual time parameter.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the manual time parameter as described above, so that the hand of the target person EP can be changed like moving or stopping. Therefore, it is possible to practice hand movements of various combinations, and the target person EP can receive rehabilitation of various contents.

Further, specifically, the hand vector parameter setting unit of the hand display parameter setting unit 348 sets the hand vector parameters.
More specifically, the hand vector parameter setting unit specifies a hand vector parameter used to determine the display direction of the target image displayed at the next timing based on the currently displayed target image. Then, the designated parameter is written to the parameter information storage unit 334.
Accordingly, the display control unit 342 causes the output device 200 to display either the target image displayed in the front-rear direction of the hand or the left-right direction of the hand in rehabilitation using the vector parameter for the hand. be able to.

  The display control unit 342 displays the target image in the rehabilitation on the output device 200 using the vector parameters for the hand as described above, so that it is possible to practice in a direction to be intensively performed. Therefore, the target person EP can receive effective rehabilitation.

Further, specifically, the hand distance parameter setting unit of the hand display parameter setting unit 348 may set the hand distance parameter.
More specifically, the manual distance parameter setting unit specifies a manual distance parameter used to determine an interval of the distance at which the target image is displayed, and writes the specified parameter to the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the same target image on the output device 200 at the distance set in the rehabilitation using the hand distance parameter. Further, thereby, the display control unit 342 can display different target images on the output device 200 at the distance set in the rehabilitation using the hand distance parameter.
More specifically, the manual distance parameter setting unit specifies a manual distance parameter used to determine a range of the distance in which the target image is displayed, and stores the specified manual distance parameter in parameter information storage. Write to the unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 within the range of the distance set in the rehabilitation using the hand distance parameter.

Further, specifically, the hand movement number parameter setting unit of the hand display parameter setting unit 348 may set the hand movement number parameter.
More specifically, the hand movement number parameter setting unit specifies a hand movement number parameter used to determine the number of times target images having different determination contents are displayed, and stores the specified parameter in a parameter information storage unit. Write to 334.
Accordingly, the display control unit 342 can display the target images having different determination contents in the rehabilitation on the set number of times output device 200 using the hand movement number parameter.

  The display control unit 342 displays the target image in rehabilitation on the output device 200 using the hand movement number parameter as described above, so that the target person EP without endurance and the target person EP with motion restriction are also limited in the number of times. Can be given. Therefore, the target person EP can safely receive rehabilitation. Further, more complicated rehabilitation such as causing the target person EP to count and store the number of movements can be performed.

Further, specifically, the manual timing parameter setting unit of the manual display parameter setting unit 348 may set a manual timing parameter.
More specifically, the manual timing parameter setting unit specifies a manual timing parameter used to determine the timing at which different target images indicating different moving directions are displayed, and stores the specified parameter in a parameter information storage unit. Write to 334.
With this, the display control unit 342 uses the manual timing parameter to display any one of the target images in the rehabilitation in which the left and right are simultaneously displayed, the left and right are displayed alternately, or the right or left is continuously displayed. Can be displayed on the output device 200.

  The display control unit 342 displays a target image in rehabilitation on the output device 200 using the hand timing parameters as described above, so that it is possible to practice rehabilitation of hand movement called “mirroring” in a symmetrical manner. Therefore, various effective variations can be implemented in combination with the left-right alternating “multitasking”.

Further, specifically, the manual speed parameter setting unit of the manual display parameter setting unit 348 may set a manual speed parameter.
More specifically, the hand speed parameter setting unit is used to determine a change rate at which a target image indicating a right hand movement target or a left hand movement target is displayed and the display position of the target image changes per unit time. The hand speed parameter to be used is designated and written into the parameter information storage unit 334.
For example, by specifying the hand speed parameter, a combination is randomly selected from a plurality of combinations of distance and time that satisfy the specified hand movement speed. The manual distance parameter and the manual time parameter corresponding to each of the times are written in the parameter information storage unit 334.
Accordingly, the display control unit 342 can display the target image on the output device 200 in the rehabilitation by using the hand speed parameter in the same manner as when the hand distance parameter and the hand time parameter are used.

  Note that the number of times indicated by each of the foot movement number parameter and the hand movement number parameter in the embodiment of the present invention may be an arbitrary number. For example, the number of times indicated by each of the foot movement number parameter and the hand movement number parameter may be such that the appearance is looped by a program to be infinite.

In the embodiment of the present invention, the description has been given assuming that three foot display parameters are set: a foot distance parameter, a foot time parameter, and a foot vector parameter. However, the foot display parameters in the embodiment of the present invention are not limited to those for setting three of the foot distance parameter, the foot time parameter, and the foot vector parameter.
For example, the foot display parameter in the embodiment of the present invention may be one in which only a foot distance parameter is set, or an arbitrary number of parameters may be set.

In the embodiment of the present invention, three hand display parameters are described: a hand position parameter, a hand time parameter, and a hand vector parameter. However, the hand display parameters in the embodiment of the present invention are not limited to those for setting three of the hand position parameters, the hand time parameters, and the hand vector parameters.
For example, the hand display parameter in the embodiment of the present invention may be a parameter for setting only the hand position parameter, or a parameter for setting an arbitrary number of parameters.

In the embodiment of the present invention, it has been described that three disturbance display parameters are set: a disturbance position parameter, a manual time parameter, and a disturbance vector parameter. However, the display parameters for disturbance in the embodiment of the present invention are not limited to those for setting three parameters: a disturbance position parameter, a disturbance time parameter, and a disturbance vector parameter.
For example, the display parameter for disturbance in the embodiment of the present invention may be a parameter for setting only a position parameter for disturbance or an arbitrary number of parameters.

In the embodiment of the present invention, each of the foot display parameter, the hand display parameter, and the disturbance display parameter has been described as being set when rehabilitation is started using the rehabilitation support control device 300. However, each of the foot display parameter, the hand display parameter, and the disturbance display parameter in the embodiment of the present invention is not limited to those set when rehabilitation is started. For example, each of the display parameter for the foot, the display parameter for the hand, and the display parameter for the disturbance is stored in the parameter information storage unit 334 in association with the parameter set once and the target person EP. The display parameter for feet, the display parameter for hands, and the display parameter for disturbance associated with the EP may be read.
As described above, the parameter information storage unit 334 stores the display parameters for the feet, the display parameters for the hands, and the display parameters for the disturbance, so that the same rehabilitation is performed even when the therapist or the like in charge of the rehabilitation is changed. Can be reproduced. Therefore, the target person EP can continuously receive the same rehabilitation, and the therapist or the like in charge does not need to find and set the setting suitable for the target person EP again, and the burden on the therapist and the like is reduced.

As described above, the rehabilitation support control device 300 according to the present embodiment includes the display control unit 342. The display control unit 342 causes the output device 200 to display the target image based on a foot display parameter used for displaying a predetermined target image when the rehabilitation target moves the foot.
By doing so, the rehabilitation support control device 300 can display the target image at a position, a time interval, or the like suitable for the state of the target person based on the foot display parameters. Therefore, effective rehabilitation can be performed on the subject, and the subject can feel the effect of the rehabilitation. Further, since the difficulty of rehabilitation changes depending on the foot display parameter, it is possible to provide game characteristics. As a result, it is possible to support that the subject of rehabilitation actively performs rehabilitation.

(Modification)
FIG. 16 is a perspective view illustrating a modified example of the system configuration of the rehabilitation support system 1.
The rehabilitation support control device 300 may be implemented with a plurality of devices having different functions. For example, the input unit 31 and the recognition unit 341 may be mounted on another device as an image recognition device. For example, the recognition unit 341 may be provided in the sensor 100.
Further, the output device 200 may be configured using an image display device that displays an image instead of the image projection device. In this case, as shown in FIG. 16, the output device 200 is configured as a display device having a display surface on a surface corresponding to a surface (projection surface) on which an image is projected by the image projection device in the above description. Specific examples of the image display device include a liquid crystal display device, an organic EL (Electro Luminescence) display device, and a touch panel display device. For example, a display device may be incorporated on the surface of the table, and a mark touched by the subject EP may be displayed on the display screen of the display device. Also in this case, the rehabilitation support control device 300 (control unit 34) performs calibration using, for example, a marker image displayed on the display device as a mark.

  All or some of the functions of each device described above may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array). The program executed by each device described above may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage device such as a hard disk built in a computer system. Each program may be transmitted via a telecommunication line.

DESCRIPTION OF SYMBOLS 1 ... Rehabilitation support system, 31 ... Input part, 32 ... Output part, 33 ... Storage part, 34 ... Control part, 35 ... Operation part, 36 ... Display part, 100 ... Sensor, 200 ... Output device, 300 ... Rehabilitation support control Device, 310 leg, 311, 312, 313, 314 caster, 331 calibration information storage unit, 332 determination condition information storage unit, 333 detection history information storage unit, 334 parameter information storage unit, 335 ... Program information storage unit, 341 recognition unit, 342 display control unit, 343 operation area determination unit, 344 recording unit, 345 target determination unit, 346 evaluation unit, 347 foot display parameter setting unit, 348 Manual display parameter setting section, 349: disturbance display parameter setting section, 800: detection range, 900: output area, 901: Point

Claims (4)

A storage unit for storing parameters,
A recognition unit that recognizes a position of a part of the body of the target person based on detection result information indicating a detection result of the body of the target person of rehabilitation;
A determination unit configured to determine whether an operation area in which the subject person operates is a first area or a second area different from the first area based on a recognition result by the recognition unit;
Based on the parameters, and a display control unit that controls so as to display a first image of a portion of the moving target of said subject's body to the output device,
A setting unit that can change the parameter based on the functional recovery of the subject's body,
The determination unit sets, when the operation region is the first region, the feet of the subject's body as a detection target, and when the operation region is the second region, detects the hands of the subject's body as the detection targets. Set,
The parameters include a foot display parameter and a hand display parameter,
The display control unit, when the detection target is a foot, controls an output device to display the first image in the first region based on the display parameters for the foot, and when the detection target is a hand, Controlling an output device to display the first image in the second area based on the manual display parameter;
The setting unit can change the display parameters for the feet, based on the functional recovery of the subject's body, so as to change the interval between the left and right feet of the subject shown in the first image,
The setting unit can change the hand display parameter based on the functional recovery of the subject's body so that the area in which the first image is displayed can be limited.
Rehabilitation support control device. The foot display parameters are:
The foot distance parameter related to the moving distance of the target person's foot, the foot time parameter related to the moving time of the target person's foot, the foot vector parameter related to the moving direction of the target person's foot, and the target person The rehabilitation support control device according to claim 1, further comprising a first disturbance parameter for a foot relating to a disturbance that hinders movement of the subject's foot to the movement position. The manual display parameter is:
The hand position parameter related to the moving position of the target person's hand, the hand time parameter related to the moving time of the target person's hand, the hand vector parameter related to the moving direction of the target person's hand, and the target person A second disturbance parameter for a hand related to a disturbance that hinders moving the target person's hand to the movement position, further including:
The rehabilitation support control device according to claim 2, wherein the first disturbance parameter is different from the second disturbance parameter. A storage unit for storing parameters,
A recognition unit that recognizes a position of a part of the body of the target person based on detection result information indicating a detection result of the body of the target person of rehabilitation;
A determination unit configured to determine whether an operation area in which the subject person operates is a first area or a second area different from the first area based on a recognition result by the recognition unit;
Based on the parameters, and a display control unit that controls so as to display a first image of a portion of the moving target of said subject's body to the output device,
A setting unit that can change the parameter based on the functional recovery of the subject's body,
The determination unit sets, when the operation region is the first region, the feet of the subject's body as a detection target, and when the operation region is the second region, detects the hands of the subject's body as the detection targets. Set,
The parameters include a foot display parameter and a hand display parameter,
Wherein the display control unit, when the detection Target is the foot, on the basis of the foot display parameters to control the output device so as to display the first image prior Symbol first region, when the detection target of the hand Controlling an output device to display the first image in the second area based on the manual display parameter;
The setting unit can change the display parameters for the feet, based on the functional recovery of the subject's body, so as to change the interval between the left and right feet of the subject shown in the first image,
The setting unit can change the hand display parameter based on the functional recovery of the subject's body so that the area in which the first image is displayed can be limited.
Computer program for causing a computer to function as a rehabilitation support control device.

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