JP6706649B2 - Rehabilitation support device - Google Patents

Description

The present invention relates to a technique for supporting rehabilitation.

BACKGROUND ART Conventionally, there is a technique for evaluating rehabilitation by displaying an image for rehabilitation on a touch panel and detecting the position on the touch panel touched by the target person of the rehabilitation corresponding to the image (see Patent Document 1, for example).

JP, 2013-172897, A

Depending on the target person of the rehabilitation, it may be difficult to grasp the position shown on the screen. For example, when the image of the subject himself and the position of the target to reach his right hand are displayed on the screen, the image of the subject himself cannot be associated with the actual subject, and therefore the target to reach his right hand Sometimes it is not possible to know the position. If the target person cannot grasp the position of the target, the rehabilitation may be hindered.

In view of the above circumstances, the present invention has an object to provide a technique that enables a target person of rehabilitation to more intuitively grasp a position.

One aspect of the present invention, an input unit that acquires detection result information indicating a result of detecting the target person, and of the detection result information, the target person corresponding to a motion region in which the rehabilitation motion of the target person is performed. Based on the detection result information about the part of the body, the recognition unit that recognizes the position of the part of the body of the target person and the output device that displays in the operation area are controlled, and one of the body of the target person is controlled. A rehabilitation assistance control device, comprising: a display control unit that displays the image at a position corresponding to the position of the unit.

One aspect of the present invention is the rehabilitation assistance control device described above, wherein the display control unit causes the output device to output an image indicating a current position of a part of the body of the subject.

One aspect of the present invention is the rehabilitation assistance control device described above, wherein the display control unit causes the output device to display an image showing a history of a position of a part of the body of the subject.

One aspect of the present invention is the rehabilitation assistance control device described above, further comprising a target determination unit that determines a target position of a part of the body of the subject based on a position of a part of the body of the subject. The display control unit controls the output device to display an image at the target position.

One aspect of the present invention is the rehabilitation assistance control device described above, further comprising an evaluation unit that evaluates a relative positional relationship between a position of a part of the body of the subject and the target position, and the display control. The unit causes the output device to display the evaluation result obtained by the evaluation unit.

One aspect of the present invention is the rehabilitation assistance control device described above, wherein the display control unit is provided on at least one of a position of a part of the body of the subject and the target position, and the evaluation unit. Display the evaluation result by.

One aspect of the present invention is the above-mentioned rehabilitation assistance control device, wherein the operation area according to the content of the rehabilitation performed by the subject is either a predetermined first operation area or a predetermined second operation area. The recognition unit further includes a motion region determination unit that determines whether there is a position of the part of the body related to the first motion region or the second motion region based on the determination result of the motion region determination unit. Recognize the movement of.

One aspect of the present invention, an input unit that acquires detection result information indicating a result of detecting the target person, and of the detection result information, the target person corresponding to a motion region in which the rehabilitation motion of the target person is performed. Based on the detection result information about the part of the body, the recognition unit that recognizes the position of the part of the body of the target person and the output device that displays in the operation area are controlled, and the body of the target person is controlled. It is a computer program for causing a computer to function as a rehabilitation assistance control device including a display control unit that displays an image at a position corresponding to a position of a unit.

According to the present invention, the target person of rehabilitation can grasp the position more intuitively.

It is a perspective view showing the system configuration of rehabilitation support system 1 concerning one embodiment of the present invention. 3 is a schematic block diagram showing a functional configuration example of a rehabilitation support control device 300 included in the rehabilitation support system 1. FIG. FIG. 6 is a perspective view for explaining a first operation area by the rehabilitation assistance control device 300. FIG. 3 is a plan view showing an example of image display in the rehabilitation support system 1. FIG. 6 is a perspective view for explaining a second operation area by the rehabilitation assistance control device 300. FIG. 3 is a plan view showing an example of image display in the rehabilitation support system 1. 8 is a flowchart showing an example of a motion area determination process by the rehabilitation support control device 300. FIG. 6 is a perspective view showing an example in which the rehabilitation support control device 300 projects a target image which is a target for moving the hand. It is a figure which shows the example which the rehabilitation assistance control apparatus 300 projects the disturbance of a hand. It is a figure which shows the example which the foot display parameter setting part 347 sets the value of a step. 6 is a perspective view showing an example in which the rehabilitation support control device 300 projects a target image as an avoidance target when the subject EP walks. FIG. 6 is a perspective view showing an example in which the rehabilitation support control device 300 displays a disturbance when the subject EP walks. FIG. 9 is a flowchart showing an example of a process of recognizing a target person EP by the rehabilitation support control device 300. 3 is a flowchart showing an example of parameter setting in rehabilitation using the rehabilitation support system 1. It is a figure which shows the example which the rehabilitation support system 1 displayed the height of a part of body of the object person EP. 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 an embodiment of the present invention. The rehabilitation support system 1 is a system that supports the implementation of rehabilitation for a target person (hereinafter referred to as “target person”) of rehabilitation. The rehabilitation support system 1 includes a sensor 100, an output device 200, and a rehabilitation support control device 300.

The sensor 100 detects the target person EP within a detection range 800 of the sensor 100 (a range surrounded by a broken line in FIG. 1).
The sensor 100 is, for example, an image sensor, an infrared sensor, a laser sensor, a thermosensor, or the like that can detect the movement of the target person EP without attaching a marker to the target person EP. In the present embodiment, as an example of such a sensor, a case where Kinect (registered trademark) in which a distance sensor and an image sensor are incorporated is used as the sensor 100 will be described.
The sensor 100 includes, for example, an image sensor (not shown). The image sensor has (1) a function as a moving image camera that captures a frontal direction of itself in real time and acquires a plurality of continuous two-dimensional images (frame images); It has a function as a distance sensor (depth sensor) for acquiring information (image displaying distance information) on the distance to the actual position corresponding to each position in the image (frame image). With the function of the distance sensor, an image obtained by capturing the target person EP and distance image information that is coordinate information in the three-dimensional space of each part of the body of the target subject EP captured in the image are acquired. The three-dimensional space detected by the sensor 100 is a space represented by the XYZ orthogonal coordinate system shown in FIG.
Each part of the body of the target person EP is a part of the body that is required to be detected in order to recognize the motion of the target person EP. Specifically, the respective parts of the body of the subject EP are, for example, positions of the head, shoulders, arms, hands, waist, legs, joints, etc. of the subject EP.
The sensor 100 outputs information indicating the detection result (hereinafter referred to as “detection result information”) to the rehabilitation assistance control device 300. The detection result information is, for example, position information of a part of the body of the subject EP.
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 it in the output area 900. As an example of the output image, an image including a movement history of a part of the body of the target person EP and a movement target position of a part of the body of the target person EP can be given. For example, in the case of walking rehabilitation, the output device 200 displays one or both of the movement history of the foot position of the target person EP and the target position where the target person EP moves and moves the foot. Good. Further, in the case of hand movement rehabilitation, the output device 200 selects one or both of the movement history of the hand position of the subject EP and the target position where the subject EP moves and moves the hand. May be displayed. In the following description, an image showing a movement history of a part of the body of the subject EP is referred to as a history image. An image showing a movement target position of a part of the body of the subject EP is referred to as a target image.

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 portion 310 can be expanded and contracted in the vertical direction, and the height positions of the sensor 100 and the output device 200 can be adjusted. Thereby, the width of the detection range of the sensor 100 can be adjusted. When the output device 200 is a projection device, the size of the output area 900 can be adjusted. In addition, the leg portion 310 includes casters 311, 312, 313, 314. Since the casters 311 to 314 can roll, the rehabilitation support system 1 can be freely moved on the floor by pushing it by hand.

FIG. 2 is a schematic block diagram showing a functional configuration example of the rehabilitation support control device 300 included 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 the outside. For example, the input unit 31 acquires information indicating the detection result (detection result information) from the sensor 100.
The output unit 32 is an interface that outputs the 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 the calibration information. The calibration information is information that associates the coordinate system of the coordinates indicating the detection result of the sensor 100 with the coordinate system of the image plane projected by the output device 200. Therefore, the calibration in the rehabilitation assistance control device 300 is a process of grasping the positional relationship between the detection range 800 of the sensor 100 and the image output area 900 of the output device 200, and setting a coordinate system common to both. The detection range that can be detected by the sensor 100 may be wider than the illustrated detection range 800. The detection range 800 in the present embodiment is a detection range necessary for acquiring position information of a part of the body that is the detection target of the target person EP in the motion of the target person EP performed on the output region 900. Is. The term “on the output area 900” includes not only a flat area defined by the output area 900 but also a space up to a predetermined height based on the output area 900 in the 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 onto a plurality of locations such as four corners of the image surface (image output area 900). The rehabilitation assistance control device 300 has already known the coordinates in the coordinate system of the output device 200.

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

The rehabilitation assistance control device 300 (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 assistance control device 300 (control unit 34) uses this function to perform calibration for matching the coordinate system of the sensor 100 with 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 match the coordinate system of the output device 200 with the coordinate system of the sensor 100. The calibration information 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 physical therapist 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 area including the entire projected image by the image sensor. The rehabilitation assistance control device 300 displays the image captured by the sensor 100 on the 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 the image captured by the sensor 100, the position designated by the operator can be obtained by the coordinates in the coordinate system of the sensor 100. The rehabilitation assistance control device 300 (control unit 34) acquires the 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 placed markers and outputs the coordinates of each marker.

When the output device 200 projects an image on the floor surface, if the rehabilitation support system 1 is used for the first time, it is not necessary to perform the calibration after the second use. Since the positional relationship between the sensor 100 and the floor surface and the positional relationship between the output device 200 and the floor surface do not change, the calibration information obtained during the first use can be used during the second and subsequent uses. is there.

The determination condition information storage unit 332 stores the conditions for determining the 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) regarding a part of the body of the target person EP recognized by the recognition unit 341. For example, when performing walking rehabilitation, the detection history information storage unit 333 stores a history of detection result information of the foot position of the target person EP. Further, when performing rehabilitation of hand movement, the detection history information storage unit 333 stores a history of detection result information of the hand position 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. The display parameter for disturbance set by is stored.
The program information storage unit 335 stores a rehabilitation support program.

The control unit 34 is configured by using a CPU. By executing the rehabilitation support program, the control unit 34 recognizes the recognition unit 341, the display control unit 342, the motion 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 a display parameter setting unit 348 for hands and a display parameter setting unit 349 for disturbance.

The recognition unit 341 acquires the detection result information acquired by the input unit 31 and recognizes the target object indicated by the detection result information. For example, the recognition unit 341 recognizes a person, a table, a floor, a wall, etc. existing in the detection range 800 based on the detection result information. For example, if Kinect (registered trademark) is used, the positions of a plurality of parts on the human body of the subject EP can be recognized. For example, when the recognizing unit 341 recognizes the long end of the detection target on the table, the recognizing unit 341 detects the position information of the front end for each unit time. The recognition unit 341 recognizes the movement of part of the body of the target person EP based on the position information of these feature points detected by the sensor 100 every moment. 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. Further, the recognition unit 341 has a function of recognizing the position of each part when the target object can be recognized as a person by comparing the shape of the target object indicated by the detection result information with the human skeleton model. 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 object is a person because the object has a human shape. Further, the recognition unit 341 associates the position information of each part with each part such as left toe and its position information, right heel and its position information, left and right wrists and each position information. recognize. By using the function of recognizing the position of each part based on the skeleton model (hereinafter referred to as “skeleton tracking function”), the recognition unit 341 can recognize the movement of the position of each part of the target person EP. As described above, the recognition unit 341 tracks the predetermined position of the target object having the predetermined shape included in the detection result information or the skeleton tracking function, and the position of a part of the body of the target person EP and the position thereof. Recognize movement. Further, by using Kinect (registered trademark), it is possible to obtain coordinate information of an object existing in the detection range 800 (point cloud 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), has a predetermined area or more, and has a surface whose Z coordinate value does not change (in short, a point cloud of which the Z coordinate value is substantially constant). Group) as a plane with walls, floors, tables, etc. Further, the recognizing unit 341 is the detection data of which data is part of the body (detection target part) of the target person EP related to the motion region determined by the motion region determining unit 343 described later. Recognize whether or not, and select the data (detection target information).

Here, the motion region is a region in which the target motion of rehabilitation of the subject EP is performed. More specifically, it is a predetermined region in the space in which a region strongly related to a motion intended to recover by rehabilitation operates. In addition, for example, the operation region is a region where the subject EP brings the part close to each other in the rehabilitation. Further, for example, the motion region is a region including a position which is a target (a reaching point) of the motion in the rehabilitation of the subject EP. Further, the motion area is a place where the subject EP performs a target motion during rehabilitation. In the case of a two-dimensional area, a floor, a table, and the like can be given as specific examples of the operation area. For example, in the case of the floor, the part strongly related to the motion aimed at recovery by rehabilitation is the foot, and in the case of the table, the part is the hand. Further, the subject EP brings his/her feet close to the floor in the rehabilitation of walking motion, and brings his/her hands close to the table in the rehabilitation of movement of the hand. Further, for example, in rehabilitation of walking motion, the floor is a region including a position (a display position of a target image) that is a reaching point of the walking motion, and the table is a position (a target position) that is a reaching point of the hand in rehabilitation of hand movement. This is an area including the image display position). In addition, the floor and the table are places where a desired motion is performed during the rehabilitation of walking motion and the rehabilitation of moving hand, respectively. As a specific example of the case where the operation area is three-dimensional, a space within a predetermined height range with respect to the table surface on the table (hereinafter referred to as “three-dimensional operation area”) can be cited. For example, the output device 200 displays the target image meaning “10 cm” on the table. For example, "10 cm" may be displayed at a certain position on the table. This is a target image that means that the position at a height of 10 cm with respect to the table surface in the space immediately above the position where the target image is displayed on the table is the position where the hand reaches. . The position indicated by this target image is included in the three-dimensional motion area. Also in the case of this example, for example, the three-dimensional motion region is a region in which a part (hand) strongly related to a motion intended to recover by rehabilitation moves. Further, the three-dimensional motion region is a region in which the hand is brought closer in rehabilitation of movement of the hand. Further, the three-dimensional motion area is an area including a position (position indicated by the target image) that is a reaching point of the hand movement. Further, the three-dimensional motion area is a place where the subject EP performs a target motion during rehabilitation of hand movement. As another example of the case where the operation area is three-dimensional, a space on the output area 900 can be cited. For example, when the operation region is a space on the output region 900, the target image may be projected in 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 the target image that is displayed in the motion region and guides the motion of the target person EP, the image including the information on the evaluation result of the rehabilitation, and the motion of the target part of the target person EP performed during the rehabilitation. An image or the like showing a locus is generated.
For example, in the case of walking rehabilitation, the display control unit 342 controls the output device 200, and as described above, the history image of the foot position of the target person EP and the target indicating the target position where the target person EP moves the foot. Either one or both of the images may be displayed. In the case of rehabilitation of hand movement, the display control unit 342 controls the output device 200 to display the history image of the hand position of the target person EP and the target position where the target person EP moves the hand as described above. Either or both of the target images shown may be displayed.
The position corresponding to the position of the part of the body of the target person EP may be the actual position of the part of the body of the target person EP, or may be the target position determined according to the actual position. Good. The actual position of the part of the body of the target person EP may be the current position of the part of the body of the target person EP, or may be the past position (history position).

In particular, the display control unit 342 may control the output device 200 to display an image showing the shape of a part of the body at a position corresponding to the position of the target person EP. For example, in the case of walking rehabilitation, the display control unit 342 controls the output device 200 so that one or both of the history image of the foot position of the subject EP and the target image is displayed in the foot shape image. It may be displayed. In the case of hand movement rehabilitation, the display control unit 342 controls the output device 200 to cause the output device 200 to select one of the history image of the hand position of the target person EP and the target image, as described above. One or both may be displayed as a hand-shaped image.
The display control unit 342 may cause the output device 200 to display the actual shape of the part of the body of the target person EP recognized by the recognition unit 341. Alternatively, the storage unit 33 may store an image showing the shape of a part of the body in advance, and the display control unit 342 may read the image from the storage unit 33 and display the image on the output device 200.

The operation area determination unit 343 determines the operation area based on the recognition result by the recognition unit 341. As will be described later, there are various methods for determining the operation area. The operation area determination unit 343 determines, for example, that the operation area is the floor based on a predetermined determination condition. Further, for example, the motion area determination unit 343 determines that the motion area is a table.

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

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

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

The recognition unit 341 uses the detection history information storage unit 333 via the recording unit 344 to store the data of the detection target part (positional information of a part of the body) determined by the motion region 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 the target position of the part of the body of the target person EP based on the position of the part of the body (the detection target part) of the target person EP recognized by the recognition unit 341. For example, in the case of rehabilitation of walking, the target determination unit 345 determines the foot of the subject EP based on at least one of the current foot position of the subject EP and the history of the foot position of the subject 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 foot positions 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 moving direction of the target person EP based on the direction of the target person EP's foot, and may determine the movement target position according to the determined moving direction. Alternatively, the target determination unit 345 may determine the movement target position, for example, in a random direction or toward the position of a predetermined goal regardless of the traveling direction of the target person EP.

The target determination unit 345 may calculate the amount of movement of the detection target part of the body of the subject EP and determine the movement target position based on the calculated amount of movement. For example, when the recognition unit 341 recognizes the foot position of the target person EP, the target determination unit 345 calculates the stride of the target person EP based on the history of the foot position of the target person EP. Then, the target determination unit 345 sets the movement target position at a position moved by the stride from the current position of the foot of the subject EP. The stride of the target person EP indicates the amount of movement of the foot of the target person EP, and corresponds to an example of the amount of movement of the detection target part of the body of the target person EP.
When the recognition unit 341 recognizes the movement of the foot position of the target person EP, the target determination unit 345 may detect the interval at which the foot of the target person EP moves as the stride. Alternatively, when the recognition unit 341 recognizes the position where the target person EP puts his/her foot on the floor surface, the target determination unit 345 causes the target determination unit 345 to move the position where the target person EP put his/her foot on the floor surface next. The interval up to may be detected as the stride.

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. 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 less than or equal to a predetermined threshold. 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 equal to or less than the threshold value, 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 subject EP and the movement target position is larger than the threshold value, 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 preset constant common to the plurality of target persons EP. Alternatively, the evaluation unit 346 may set the threshold value for each target person EP, for example, by setting 1/10 of the stride of the target person EP as the threshold value. Moreover, the threshold value of the distance used by the evaluation unit 346 may be set commonly for a plurality of types of rehabilitation, or may be set for each type of rehabilitation. Further, the magnitude of the threshold may be set so that the rehabilitation in which the foot is moved is larger than the rehabilitation in which the hand is moved.

Further, the number of steps by which the evaluation unit 346 evaluates the relative positional relationship between the position (detection target part) of the body of the target person EP and the movement target position is the target position arrival or the target position non-arrival described above. The number of stages is not limited to two, and may be three or more stages. For example, the evaluation unit 346 uses, in addition to the threshold for determining whether or not the target position has been reached, a threshold for determining the amount of deviation when the target position has not been reached, using three levels of target position arrival, small deviation, and large deviation. You may make it evaluate.

Further, the method in which 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 is not limited to the method using the threshold value. For example, the evaluation unit 346 may determine whether or not the position of the detection target part of the body of the target person EP and the movement target position overlap, and if it determines that there is an overlap, it may evaluate that the target position has been reached.
Further, for example, in the case of rehabilitation of walking, 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 to the target person EP. It may be recognized in the range of the shape of the foot. Then, the evaluation unit 346 may determine whether or not the range determined as the movement target position and the range detected as the position of the foot of the subject EP overlap.

The foot display parameter setting unit 347 sets foot display parameters in rehabilitation such as walking in which the foot is moved. The foot display parameter is a parameter used to display the target image when the subject EP moves the foot.
The hand display parameter setting unit 348 sets hand display parameters in rehabilitation in which the hand is moved. The display parameter for hands is a parameter used for displaying a target image when the subject EP moves his/her hand.
The disturbance display parameter setting unit 349 sets the disturbance display parameter. The disturbance display parameter is a parameter used to display a disturbance that prevents the subject EP from moving the foot or hand to the target image when the subject EP for rehabilitation moves the foot or hand to the target image. is there. Alternatively, the disturbance display parameter is used to display the disturbance that prevents the subject EP from avoiding the foot or hand from the target image when the subject EP of the rehabilitation avoids the target image from the foot or hand. These are the parameters used.

The operation unit 35 is configured by using an existing input device such as a keyboard, pointing device (mouse, tablet, etc.), button, touch panel and the like. The operation unit 35 is operated by a physical therapist or the like when inputting an instruction from the physical therapist 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 assistance control device 300. In this case, the operation unit 35 inputs the input signal generated by the input device according to the input of the physical therapist or the like 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 assistance 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 the image display device connected to itself.

FIG. 3 is a perspective view for explaining the first operation region by the rehabilitation assistance 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 motion area). The output device 200 projects the target image M1 on the table T. The target person EP performs rehabilitation related to the movement of the hand based on the target image M1 output by the output device 200 to the output area 900.
The sensor 100 detects the position of a part of the body of the target person EP when the target person EP moves his or her hand within the detection range 800, and outputs the 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 when the rehabilitation of the hand movement is performed using the rehabilitation support system 1. In the example of FIG. 4, the image is displayed on the projection surface (output area 900) on the desk by the projection of the image of the output device 200. Specifically, target images M111a, M111b, M112a and M112b showing the history of the target position, history images M121a and M121b of the hand position of the subject EP, and an image M131a showing the current hand position of the subject EP. , M131b, and target images M141a and M141b indicating the next target position are shown in the shape of a hand, respectively. In FIG. 4, reference numeral “a” indicates the right hand, and “b” indicates the left hand. For example, the target image M111a shows 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 images 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 in a red circle and the target position of the left hand in a blue circle to display a circle instead of the image of the shape of the body part to be detected. Good.

In this way, 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 target person EP intuitively moves his/her hand with respect to the target. You can grasp the achievements.

Returning to FIG. 3, an example of the operation region determination processing according to the present embodiment will be described.
The sensor 100 detects a region in which the hand of the subject EP is moved, and the input unit 31 of the rehabilitation support control device 300 acquires the detection result information. The recognition unit 341 recognizes the object indicated by the detection result information based on the detection result information acquired by the input unit 31. The motion area determination unit 343 determines the motion area in which the subject EP performs the rehabilitation based on the recognition result by the recognition unit 341.

For example, when the recognition unit 341 has a skeleton tracking function, the motion region determination unit 343 indicates that the recognition result by the recognition unit 341 indicates that the subject EP has performed a motion of greatly moving the hand or arm. For example, the operation area is determined to be the table T (first operation area). For example, when the sensor 100 is Kinect (registered trademark), the joint of the subject EP and its position information can be obtained. Utilizing this, for example, the subject EP performs an operation of sitting on a chair and moving his or her arm largely on the table as shown in FIG. Then, the recognition unit 341 analyzes the detection result information detected at this time, and recognizes which joint of the subject EP has moved and to what extent. Further, in the determination condition information storage unit 332, the motion area “table” and the motion parts “hand” and “arm” are set in association with each other. Based on this recognition result, the motion area determination unit 343 indicates that the motion area of the hand or arm of the target person EP is greater than or equal to a predetermined range and the motion area is the table T based on the setting information of the determination condition information storage unit 332. To determine.

In addition, for example, based on the detection range of the body of the target person EP in the recognition result by the recognition unit 341, the motion area determination unit 343 does not include the lower body of the target person EP in the detection range, and the motion area is a table. It may be determined to be T. For example, the subject EP sits on a chair as shown in FIG. Then, the recognition unit 341 analyzes the detection result information detected at this time, and recognizes the upper body of the target person EP from the shape of the target object indicated by the detection result information, for example. Further, in the determination condition information storage unit 332, an operation area “table” and a detection range “upper body” are set in association with each other. Based on the recognition result, the motion area determination unit 343 determines that the motion area is the table T based on the fact that the lower half of the target person EP is not included in the detection range and the setting information of the determination condition information storage unit 332.

Further, for example, when the recognition unit 341 has a skeleton tracking function, the motion region determination unit 343 determines that the head height is within a predetermined range based on the head height of the target person EP in the recognition result. If so, the operation area may be determined to be the table T. For example, the height of the subject EP is recorded in advance in the determination condition information storage unit 332, and the subject EP sits on a chair as shown in FIG. Then, the recognition unit 341 analyzes the detection result information detected at this time and recognizes the position information (coordinate information) of the head. Based on this recognition result, the motion area determination unit 343 has the height of the head of the target person EP lower than the height recorded in the determination condition information storage unit 332, and is included in a predetermined range based on the recorded height. It is determined that the operation area is the table T based on the fact that the table T is not displayed.

Further, for example, the motion area determination unit 343 may determine that the motion area is the table T according to the distance between the motion area candidate based on the recognition result and the sensor 100. For example, when the sensor 100 is a Kinect (registered trademark) distance sensor, coordinate information can be obtained for each predetermined interval of an object existing in a predetermined detection range. The recognition unit 341 analyzes the detection result information and recognizes an immovable plane having an area equal to or larger than a predetermined area as a wall, a floor, a table, or the like. In the recognition result, the motion region determination unit 343 determines whether the plane satisfies a predetermined condition based on the distance between the plane recognized by the recognition unit 341 and the sensor 100 or based on the width of the plane. Is determined to be the table T, and the operation area is determined to be the table T based on the fact that the detection range of the sensor 100 includes the table T. Alternatively, the operation region determination unit 343 may determine that the plane is the table T based on the coordinate information of the plane and the height at which the plane is located. The thresholds such as the distance, the width, and the height for determining that the plane is the table T are set in the determination condition information storage unit 332.

The same determination may be made based on the detection result information by the image sensor of Kinect (registered trademark). In this case, for example, the recognition unit 341 acquires the detection result information (image) by the image sensor via the input unit 31. In addition, the recognition unit 341 recognizes the motion of the hand and arm by the target person EP, recognizes that the body detection range of the target person EP is only the upper half of the body, and recognizes the target person EP by known image recognition processing. Recognizes the height of the head of the person, and recognizes the height and width of the plane portion included in the image. Then, the operation area determination unit 343 determines that the operation area is the table T based on the above determination conditions.
Further, in the above example, the determination based on the position information of the joint provided by Kinect (registered trademark) may be performed based on the detection result information by the distance sensor of Kinect (registered trademark).
Further, in the present embodiment, the output of the target image to the table T by the output device 200 is not essential. For example, the subject EP may perform rehabilitation of the hand movement on the table T in accordance with the voice guiding the hand movement by the occupational therapist.

FIG. 5 is a perspective view for explaining the second operation region by the rehabilitation assistance control device 300.
FIG. 5 illustrates a state in which the subject EP performs rehabilitation of walking motion on the floor FL (second motion region). The output device 200 projects the target images M2 to M5 on the floor FL. The target person EP performs the rehabilitation of the walking motion based on the target images M2 to M5 output by the output device 200 to the output area 900. For example, the subject EP performs rehabilitation by walking 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 the detection result information to the rehabilitation assistance control device 300 at predetermined time intervals.

FIG. 6 is a plan view showing an example of image display in the rehabilitation support system 1.
FIG. 6 is a diagram showing another example of image display in the rehabilitation support system 1. FIG. 6 shows an example of an image when the rehabilitation of walking is performed using the rehabilitation support system 1. In the example of FIG. 6, the image is displayed on the projection surface (output area 900) on the floor by the projection of the image of the output device. Specifically, target images M211 to M214 showing the history of the target position, history images M221 to M223 of the foot position of the target person EP, an image M231 showing the current position of the foot of the target person EP, and the following A target image M241 indicating the target position is shown as a foot-shaped image, respectively.

In the example of FIG. 4, the target positions of the right hand and the left hand are displayed, respectively, whereas in the example of FIG. 6, the target image M241 next to the left foot is shown, but the target image next to the right foot is shown. It has not been. This is because the right hand and the left hand can be moved at the same time in the movement of the hand, while the right foot and the left foot are alternately moved in the walking. According to the rehabilitation support system 1 of the present embodiment, as rehabilitation of the movement of the foot, not only walking (moving the left and right feet alternately) but also moving only one foot continuously, or “kenpa” It is also possible to train the movement of the legs by moving both legs at the same time as in. In that case, the output device 200 outputs the target image and the history image corresponding to the movement 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 the foot-shaped image. For example, the output device 200 may display the target position of the right foot in a red circle and the target position of the left foot in a blue circle, and display a circle instead of the foot-shaped image. Further, contrary to the above embodiment, the target images of the left and right feet may not be displayed one by one, but the target images of the left and right feet may be always displayed in advance. 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 position image of the foot may be displayed in a shape such as a circle or a square, and the history images of the left and right feet in the past may be displayed in the shape of "foot".

In this way, 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 target person EP intuitively moves his/her foot relative to the target. You can grasp the achievements.

Returning to FIG. 5, an example of the determination processing of the operation area in the present embodiment will be described. The sensor 100 detects a region where the walking motion of the subject EP is performed, and the input unit 31 of the rehabilitation support control device 300 acquires the detection result information. The recognition unit 341 recognizes the object indicated by the detection result information based on the detection result information acquired by the input unit 31. The motion area determination unit 343 determines the motion area in which the subject EP performs the rehabilitation based on the recognition result by the recognition unit 341.

For example, when the recognition unit 341 has a skeleton tracking function, the motion region determination unit 343 determines that the recognition result by the recognition unit 341 indicates that the motion of the target person EP greatly moves the foot. It is determined that the operation area is the floor (second operation area). For example, the target person EP performs a walking motion on the floor FL. Then, the recognition unit 341 analyzes the detection result information detected at this time, and recognizes which joint of the subject EP has moved and to what extent. In the determination condition information storage unit 332, the motion area “floor” and the motion part “foot” are set in association with each other. Based on the recognition result, the motion area determination unit 343 determines that the movement range of the foot of the target person EP is equal to or larger than the predetermined range and that the motion area is the floor FL based on the setting information of the determination condition information storage unit 332. To do.

Further, for example, based on the detection range of the body of the target person EP in the recognition result by the recognition unit 341, if the whole body of the target person EP is included in the detection range, the motion area determination unit 343 determines that the motion area is the floor. It may be determined to be FL. For example, the target person EP stands on the floor FL. The recognition unit 341 analyzes the detection result information detected at this time, and recognizes the whole body of the target person EP, for example, from the shape of the target object indicated by the detection result information. In the determination condition information storage unit 332, the motion area “floor” and the detection range “whole body” are set in association with each other. Based on the recognition result and the setting information of the determination condition information storage unit 332, the motion area determination unit 343 determines that the motion area is the floor FL based on the fact that the whole body of the target person EP is included in the detection range. Alternatively, the motion area determination unit 343 may determine that the motion area is the floor FL based on that the leg of the subject EP is included in the detection range.

In addition, for example, when the recognition unit 341 has a skeleton tracking function, the motion region determination unit 343 determines the height of the head based on the height of the head of the target person EP indicated by the recognition result by the recognition unit 341. It may be determined that the operation area is the floor FL when the height is equal to or higher than a predetermined height. For example, the height of the target person EP is recorded in the determination condition information storage unit 332 in advance, and the target person EP stands on the floor FL. Then, the recognition unit 341 analyzes the detection result information detected at this time and calculates the height of the head of the target person EP. Based on the recognition result, the motion region determination unit 343 determines that the height of the head of the subject EP is included in the predetermined range based on the height recorded in the determination condition information storage unit 332. It is determined that the operation area is the floor FL.

Further, for example, the motion area determination unit 343 may determine that the motion area is the floor according to the distance between the motion area candidate based on the recognition result and the sensor 100. The recognition unit 341 analyzes the detection result information and recognizes planes such as walls, floors, and tables. Based on the relative distance between the plane recognized by the recognition unit 341 and the sensor 100 among the recognition results, the motion region determination unit 343 determines that the plane is the floor FL if the distance is equal to or more than a predetermined length. Therefore, it is determined that the operation area is the floor FL. Alternatively, the recognition unit 341 recognizes the size of the plane, and the motion region determination unit 343 determines that the motion region is the floor FL based on the fact that the plane corresponding to the table does not exist in the predetermined detection range. Good. Alternatively, the operation area determination unit 343 may determine that the plane is the floor FL based on the coordinate information of the plane and the height at which the plane is located. The thresholds such as the distance, the width, and the height for determining that the plane is the floor FL are set in the determination condition information storage unit 332.

Similar to the case where the operation area is determined to be a table, the operation area determination unit 343 may make the determination based on the detection result information from the image sensor. In this case, for example, the recognition unit 341 recognizes the movement of the foot by the target person EP, recognizes that the detection range of the body of the target person EP is the whole body, or recognizes the target person EP by a known image recognition process. Recognizes the height of the head of the person, and recognizes the height and width of the plane portion included in the image. Then, the operation area determination unit 343 determines that the operation area is the floor FL based on the above determination conditions.
In addition, in the present embodiment, the output of the target image to the floor FL by the output device 200 is not essential. For example, the subject EP may perform a walking motion on the floor FL in accordance with a walking motion instruction from a physical therapist, for example.

Next, the flow of the detection and recording process of the rehabilitation detection target information of the target person will be described with reference to FIG. 7.
FIG. 7 is a flowchart showing an example of an operation area determination process by the rehabilitation assistance control device 300.
First, the rehabilitation support system 1 is moved to an environment in which the subject EP performs rehabilitation according to the rehabilitation content that the physical therapist or occupational therapist is about to perform. Further, the height of the leg portion 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 arm rehabilitation on a table, the subject EP takes a posture of sitting on a chair and placing his hand on the table. Moreover, for example, when performing rehabilitation of a walking motion, the subject EP takes a standing posture. When the subject EP takes these postures, the physical therapist or the like inputs the 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 physical therapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300, the subject EP may take the 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 the 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 motion of the target person EP. Alternatively, the recognition unit 341 recognizes a table, floor, etc. existing in the detection range 800. The recognition unit 341 outputs the recognition result to the operation area determination unit 343.

Next, the operation area determination unit 343 determines the operation area by the method described with reference to FIGS. 3 and 5 (step S12). For example, the motion region determination unit 343 may determine that the motion region is the floor FL if the recognition result by the recognition unit 341 indicates that the whole body of the target person EP is recognized. Further, for example, the motion area determination unit 343 may determine that the motion area is the table T if the recognition result indicates the existence of the table T. In addition to this, the operation area determination unit 343 can 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 motion region is the floor FL (step S13; Yes), the motion region determination unit 343 sets the detection target part to the foot (for example, ankle or toe) of the subject EP (step S17). When the motion region determination unit 343 sets the detection target part to the foot of the subject EP, the foot display parameter setting unit 347 next sets the foot display parameter in the rehabilitation in which the foot is moved (step S18). The foot display parameter is a parameter used to display the target image when the subject EP moves the foot.

The foot display parameters include, for example, foot distance parameters, foot time parameters, foot vector parameters, and the like. The foot distance parameter is used, for example, to determine a parameter (a step value shown in FIG. 10) used to determine the stride indicated by the target image and a stance (including a step) indicated by the target image. The 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 face is faced or the direction in which the subject is going to travel), and the predetermined portions of the two legs of the subject (eg, the tip of the heel or thumb). ) Represents the distance of parallel lines passing through each. Further, the foot time parameter is, for example, a parameter indicating the total time during which the target image is displayed and rehabilitation is performed, the time from when the currently displayed target image is displayed until the next timing when the target image is displayed. It includes a parameter that indicates. Further, the foot vector parameter includes, for example, a parameter used for determining 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 subject EP.

In addition to this, for example, in the case where the target image is the rehabilitation that is the avoidance target when the target person EP walks, the foot display parameter setting unit 347 responds to the foot input according to the information input from the operation unit 35. Set display parameters for. The rehabilitation in which the target image is the avoidance target when the subject EP walks is, for example, as shown in FIG. 11, the rehabilitation support control device 300 indicates the avoidance target when the subject EP walks the pedestrian crossing. This is a rehabilitation in which a target image in the shape of an automobile is displayed and the target person EP avoids the target image.

When the foot display parameter setting unit 347 sets the foot display parameter, the disturbance display parameter setting unit 349 then sets the foot disturbance display parameter (step S19). For example, the rehabilitation support control device 300 executes a dedicated application, and a physical therapist or the like inputs various information to the rehabilitation support control device 300. The disturbance display parameter setting unit 349, according to the information input to the rehabilitation support control device 300, when the target image is rehabilitation that is a movement target of the foot when the subject EP walks, according to the information input to the disturbance display parameter. To set.
As the disturbance display parameter, for example, as shown in FIG. 12, when the rehabilitation support control device 300 causes the target EP to walk on a pedestrian crossing, the target rehabilitation target EP moves the foot to a predetermined target image. It is a parameter used to display an image of a disturbance in the shape of an automobile that becomes an obstacle.

The foot disturbance display parameter includes, 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 the distance from the currently displayed disturbance to the disturbance displayed at the next timing. In addition, the disturbance time parameter includes, for example, a parameter indicating the time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameter includes, for example, a parameter used to determine the display direction of the disturbance displayed at the next timing with reference to 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 area determination unit 343 sets the detection target part to the hand (for example, the back of the hand or the fingertip) (step S14). The operation area determination unit 343 outputs the information of the detection target part to the recognition unit 341. Further, the motion area determination unit 343 outputs the motion area to the display control unit 342. When the operation area determination unit 343 sets the detection target part in the hand of the target person EP, the hand display parameter setting unit 348 then sets the hand display parameter (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. The hand display parameter setting unit 348 displays the hand display according to the information input from the rehabilitation support control device 300 when the target image is the rehabilitation that is the movement target of the hand when the subject EP moves the hand. Set the parameters.
The rehabilitation in which the target image is the movement target of the hand when the target person EP moves the hand is, for example, as shown in FIG. 8, the rehabilitation support control device 300 indicates that the hand when the target person EP moves the hand. This is a rehabilitation in which a target image in the shape of an apple that is a moving target is displayed, and the subject EP moves his hand to the position of the target image.

The hand display parameters include, for example, a hand position parameter, a hand time parameter, and a hand vector parameter. The hand position parameter includes, for example, a parameter used to determine the area in which the target image is displayed. The manual time parameter includes a time parameter indicating the time until the currently displayed target image is displayed at a position different from the current position. The hand vector parameters include parameters used for determining the display direction of the target image displayed at the next timing with reference to the currently displayed target image. The manual display parameter setting unit 348 records the specified manual distance parameter, manual time parameter, manual vector parameter, and the like in the parameter information storage unit 334. By setting these parameters, for example, the target image as illustrated in FIG. 4 can be displayed according to the content of the rehabilitation of the subject 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. The disturbance display parameter setting unit 349 displays the disturbance display according to the information input to the rehabilitation support control device 300 in the case where the target image is rehabilitation that is a movement target of the hand when the subject EP moves the hand. Set the parameters.
For example, as shown in FIG. 9, the display parameter for disturbance of the hand 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, it indicates the movement of the hand. It is a parameter used to display a disturbance that is a character that must not be selected as an image.

The disturbance display parameter of the hand includes, 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 the distance from the currently displayed disturbance to the disturbance displayed at the next timing. In addition, the disturbance time parameter includes, for example, a parameter indicating the time until the currently displayed disturbance is displayed at a position different from the current position. Further, the disturbance vector parameter includes, for example, a parameter used to determine the display direction of the disturbance displayed at the next timing with reference to 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. This completes the actual rehabilitation preparation process. Next, the subject EP starts rehabilitation in the operation area determined in the preparation process.

Next, the recognition process of the target person EP during the rehabilitation will be described with reference to FIG.
FIG. 13 is a flowchart showing an example of the recognition process of the target person EP by the rehabilitation support control device 300.
The target person EP who performs rehabilitation enters the detection range 800 and starts rehabilitation. Also, the physical therapist or the like inputs the rehabilitation start instruction information into the rehabilitation support control device 300 together with the name, sex, height, etc. 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 foot pattern. Further, the target determination unit 345 calculates coordinate information of the position where the target image is displayed. The position at which the target image is displayed may be changed according to the foot display parameter set in step S18. Further, when the operation area is a table, the display control unit 342 generates a target image displaying a target to be touched by the subject EP. The target determination unit 345 also calculates the coordinate information of the display position. The output unit 32 acquires these pieces of information (target image and display position) and gives an output instruction to the output device 200. The output device 200 displays the target image generated by the display control unit 342 in the output area 900 according to the instruction from the output unit 32 (step S21). In this way, when the output device 200 displays the target image in the operation area, the target person EP performs an operation of moving the body part related to the detection target part to the display position. For example, when the target image of the foot shape is displayed, the subject EP moves the foot to the position where the foot shape is displayed. Further, for example, when the target image of the target is displayed on the table, the target person EP moves the hand to the position where the target image is displayed and touches the table.
The sensor 100 continues to detect the motion of the subject EP and outputs the motion to the rehabilitation support control device 300. In the rehabilitation support control device 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. When the recognition unit 341 acquires the detection result information, the recognition unit 341 selects the data of the detection target portion from the information. For example, when Kinect (registered trademark) is used, the recognition unit 341 acquires position information regarding a plurality of parts of the subject EP as the detection result information. The recognizing unit 341 selects the position information of the detection target site determined by the motion region determining unit 343 from among them. For example, when the detection target part determined by the motion area determination unit 343 is the foot (the motion area is the floor), the recognition unit 341 selects the position information of the foot (eg, ankle) from the detection result information. Further, for example, when the detection target part determined by the motion area determination unit 343 is a hand (the motion area is a table), the recognition unit 341 selects the position information of the hand (for example, the back of the hand) from the detection result information. The recognition 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). Thus, even if the detection result information includes whole-body data regarding the motion of the target person EP, the recognition unit 341 detects which data, out of the data included in the detection result information, is the detection target related to the motion region. Recognize whether it is the data of the part and select the 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 from the output unit 32 (step S24).
Next, the control unit 34 determines whether to end the detection process (step S25). For example, when a physical therapist or the like inputs the rehabilitation end instruction information, the control unit 34 acquires the information via the operation unit 35 and determines to end the detection process. In addition, when the target person EP goes out of the detection range 800, the hand of the target person EP goes out of the detection range 800, or when a preset rehabilitation implementation time has elapsed Moreover, the control unit 34 determines to end the detection process.
When it is determined that the processing is not completed (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 uses the data (detection target information) of the detection target part of the target person EP recorded in the detection history information storage unit 333 to determine the operation result of the target person EP in the current rehabilitation (for example, the detection target part). The output device 200 may display this image by generating an image that displays the moving path).

Next, a process of setting parameters during rehabilitation will be described with reference to FIG.
FIG. 14 is a flowchart showing an example of parameter setting in rehabilitation using the rehabilitation support system 1.
First, before performing rehabilitation, a physical therapist or the like sets parameters (foot display parameters and the like) for the subject EP (step S30). Specifically, a physical therapist or the like refers to the display screen (display unit 36) provided on the rehabilitation support control device 300 and inputs various parameters to the rehabilitation support control device 300. Next, the physical therapist or the like inputs the preparation start instruction information to the rehabilitation support control device 300 to carry out the rehabilitation (step S31). As described above, the motion area determination unit 343 of the rehabilitation support control device 300 determines the motion 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 parameter input in step S30. Further, the disturbance display parameter setting unit 349 sets the foot disturbance display parameter 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 parameter input in step S30, and the disturbance display parameter setting unit 349 causes the hand input parameter setting unit 349 to input the hand input in step S30. Set 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 the images. The target person EP performs rehabilitation based on the displayed target image. When a predetermined series of 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 the 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 physical therapist or the like may determine whether or not to continue rehabilitation depending on whether or not rehabilitation has been performed for a predetermined time. Alternatively, the physical therapist or the like may determine whether to continue the rehabilitation based on the degree of fatigue of the subject EP and the degree of achievement indicated by the rehabilitation result. When it is determined that the rehabilitation is not continued (step S33; No), the flowchart is ended.

When it is determined that the rehabilitation is to be continued (step S33; Yes), the physical therapist or the like determines whether the parameter setting needs to be reviewed (step S34). For example, when the rehabilitation result of the subject EP is higher than expected, the physical therapist or the like determines that it is necessary to review the parameter setting so as to request a more difficult operation. Alternatively, if the movement of the hand or foot of the subject EP is as expected and it seems that it is better to train the movement of the hand or foot of the same difficulty level again, the physiotherapist, etc. It is judged that it is not necessary to review the parameter settings. When it is determined that the parameter setting need not be reviewed (step S34; No), the physical therapist or the like inputs the start instruction information to the rehabilitation support control device 300 and repeats the processing from step S31. In addition, when the rehabilitation of the same target person EP is repeatedly performed in the same motion region, the motion region determination processing by the motion region determination unit 343 may be omitted.
When it is determined that the parameter settings need to be reviewed (step S34; Yes), the physical therapist or the like considers new parameters (step S35). For example, if the result of the rehabilitation is good this time, the physical therapist or the like considers a parameter that requires a more difficult motion. Alternatively, if the result of this rehabilitation is not good, the physical therapist or the like considers parameters that require a less difficult motion. When the parameters have been examined, the physical therapist 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, the parameters can be arbitrarily set, and thus the subject EP can carry out rehabilitation according to the physical condition and ability. In the above description, the parameter input/setting is performed by referring to the display screen (display unit 36) provided in the rehabilitation support control device 300. However, referring to the parameter setting screen output from the output device 200 Various parameter inputs/settings may be executed on the setting screen displayed on the floor or table.

According to the present embodiment, one record of the motion information (detection target information of the present embodiment) of the target person EP in the rehabilitation on the floor FL performed by the physical therapist and the rehabilitation on the table T performed by the occupational therapist is recorded. The rehabilitation support system 1 can be used. For example, even if the place where the rehabilitation of the walking motion is performed and the table T that performs the rehabilitation of the movement of the hand are located apart from each other, the rehabilitation support system 1 is moved to detect the motion of the subject EP at each position. However, the operation information can be recorded. Further, in the case where the rehabilitation of the movement of the hand is performed by installing the table T at a place where the rehabilitation of the walking motion is performed, the motion region determination unit 343 may only determine the motion region before the rehabilitation, and the rehabilitation of the walking motion It is possible to switch between the detection mode and the hand movement rehabilitation detection mode. 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 structures of the data regarding the target person EP output by the devices are different. If the data structure is different, for example, when the rehabilitation history of a certain subject EP is analyzed, the handling of the data becomes complicated, which is difficult. In the present embodiment, the data to be recorded regarding the subject EP is position information of one part of both hands or both feet and can be recorded and processed with a common data structure. Therefore, the analysis processing of the recorded data can be shared, and the data can be easily handled. Further, no matter what action the target person EP does, since the recognition process and the recording process are focused on a pair of left and right data of the part related to the target action of rehabilitation, the process can be speeded up and simplified. You can In addition, in general motion capture, there is a problem that the target person EP needs to wear a marker to detect the motion of the target person EP, which is troublesome, but the rehabilitation support system 1 of the present embodiment does not. For example, the target person EP does not need to wear a marker, and the motion of the target person EP can be easily detected.

The display control unit 342 may display the height of a part of the body of the subject EP on the output device 200. This point will be described with reference to FIG.
FIG. 15 is a diagram showing an example in which the rehabilitation support system 1 displays the height of a part of the body of the subject EP. FIG. 15 shows an example of a case where rehabilitation regarding movement of a hand is performed on a desk. Under the control of the display control unit 342, the output device 200 displays an image M311a showing the current position of the right hand of the subject EP, an image M311b showing the current position of the left hand, and an image M321a showing the target position of the right hand on the desk. It is displayed (projected) on the projection surface (output area 900).

The output device 200 displays, for example, an image M311a indicating the current position of the right hand as a red circle (red circle) and an image M311b indicating the current position of the left hand as a blue circle (blue circle). For example, according to the control of the display control unit 342, the output device 200 displays a part of the body part of the target person EP recognized by the two sensors 100 on the left side as viewed from the sensor 100 with a blue circle and on the right side. The position of the part of is displayed with a red circle.

Further, the output device 200 displays the height of the hand in the size of a circle under the control of the display control unit 342. In the example of FIG. 15, the subject EP has his left hand placed on the desk surface, while his right hand is raised above the desk surface. Therefore, the output device 200 displays the image M311a indicating the position of the right hand as a circle smaller than the image M311b indicating the position of the left hand. In this way, the output device 200 displays a smaller circle as the hand position of the target person EP is higher.

The output device 200 also displays the height of the target position of the hand of the subject EP as a circle. In the example of FIG. 15, the output device 200 displays the image M321a indicating the target position of the right hand as a circle slightly larger than the image M311a indicating the current position of the right hand.
The target person EP changes the horizontal position of the right hand so as to move the image M311a and superimpose it on the image M321a. Further, the subject EP changes the vertical position of the right hand so that the size of the image M311a matches the size of the image M321a.
As described above, in the example of FIG. 15, rehabilitation including not only the horizontal movement of the hand but also the vertical movement of the hand is performed.

In FIG. 15, the case where the display control unit 342 displays the height of the hand of the subject EP on the output device 200 has been described as an example. Similarly, the display control unit 342 may display the height of the foot of the subject EP on the output device 200. For example, rehabilitation of walking may involve rehabilitation of raising a foot. In this rehabilitation, the display control unit 342 may indicate the height of the foot in the display of the target position and the current position of the foot of the subject EP, as in the example of FIG. 15.

The position at which the display control unit 342 displays the image on the output device 200 is not limited to the position corresponding to the position of the part of the body of the subject EP.
For example, FIG. 12 described above shows an example of rehabilitation in which a person walks according to a target image (image showing a target position) while avoiding an image of a car that appears as a disturbance. In the example of FIG. 12, the output device 200 displays, for example, an image of a vehicle at a predetermined position at a predetermined timing, such as a position of a part of the body of the subject EP (foot in the example of FIG. 12). The image of the car is displayed at a position that does not depend on the position.

On the other hand, the position of the target may or may not depend on the position of the foot of the subject EP. For example, the output device 200 may display the target image at a predetermined position. Alternatively, as described above, the target determining unit 345 determines the next target position according to the position of the foot of the target person EP, and the output device 200 displays the target image at the determined position. Good.

In the example of FIG. 12, the case where the output device 200 displays the image of the target at a predetermined position corresponds to the case where the image is displayed at a position that does not depend on a part of the body of the subject EP. Further, in the example of FIG. 12, when the output device 200 displays the image of the target at the target position determined by the target determining unit 345 according to the position of the foot of the target person EP, a part of the body of the target person EP is displayed. This corresponds to an example of a combination of displaying an image at a position that does not depend on the position and displaying an image at a position that depends on a part of the body of the subject EP.

Note that, as in the example of FIG. 3, the display control unit 342 may control the output device 200 to display the evaluation result by the evaluation unit 346. FIG. 3 shows an example of a case where the target person EP puts his right hand on the target position (striking the target position). The output device 200 displays the evaluation result of “OK” at the target position under the control of the display control unit 342. The evaluation result of “OK” indicates that the right hand of the target person EP has reached the target position.

The output device 200 may display the evaluation result by the evaluation unit 346 at the target position, or may display the evaluation result at a current position of a part of the body of the subject EP (right hand position in the example of FIG. 3). You can Alternatively, the output device 200 may display the evaluation result by the evaluation unit 346 at both the target position and the current position of the part of the body of the subject EP.
Alternatively, the output device 200 displays the evaluation result by the evaluation unit 346 at a predetermined position, for example, and the evaluation unit 346 is located at a position different from both the target position and the current position of the part of the body of the subject EP. You may make it display the evaluation result by.

As described above, the input unit 31 acquires the detection result information indicating the result of detecting the target person EP. The recognition unit 341 recognizes the position of the part of the body of the target person EP based on the detection result information regarding the part of the body of the target person EP corresponding to the operation region among the detection result information. The display control unit 342 controls the output device 200 that displays an image in the operation area to display the image at a position corresponding to the position of a part of the body of the subject EP.
In this way, the display control unit 342 controls the output device 200 to display the image in the operation region, so that the target person EP can display the position indicated by the image without having to associate the position of the image with the actual position. You can figure it out. In this respect, the subject EP can grasp the position more intuitively.
In addition, the display control unit 342 controls the output device 200 to display the image in the operation area, so that it is possible to increase the possibility that the subject EP recognizes that the subject EP is an image regarding rehabilitation of the subject EP itself. ..
For example, in rehabilitation using the rehabilitation support system 1, an actual position of a part such as a hand or a foot of the subject EP, or an actual target position where the target EP has moved a part such as a hand or a foot in the past. , The evaluation of the motion of the subject EP can be displayed. Accordingly, it is possible to increase the possibility that the subject EP recognizes that the subject EP is an evaluation of the action of the subject EP.

The display control unit 342 also causes the output device 200 to display an image indicating the current position of a part of the body of the subject EP.
In this way, the display control unit 342 controls the output device 200 to display the current position of the part of the body of the target person EP, so that the target person EP can display the part of the target person EP's own body. It becomes easy to understand that the position and the display by the output device 200 (the output area 900) are associated with each other. This makes it easy for the target person EP to grasp the positional relationship between the position of a part of the body of the target person EP itself and the target position. By grasping this positional relationship, the target person EP can perform an operation for rehabilitation (an operation of moving a part of the body of the target person EP to the target position).

The display control unit 342 also causes the output device 200 to display an image showing the history of the position of a part of the body of the subject EP.
In this way, the display control unit 342 controls the output device 200 to display the history at a position where a part of the body of the target person EP is actually present, so that the target person EP is in charge of the target person EP's own body. It is possible to increase the possibility of recognizing the history of a part of the positions.
Further, the degree of displacement of the movement of the target person EP with respect to the target is indicated by the size of the displacement of the history image at some positions of the target person EP with respect to the target image showing the history of the target position. The target person EP grasps the degree of the shift in the movement of the target person EP with respect to the target by looking at the shift between the target image showing the history of the target position and the history image of a part of the body of the target person EP. be able to.

Moreover, the target determination unit 345 determines the target position of the part of the body of the target person EP based on the position of the part of the body of the target person EP. The display control unit 342 controls the output device so that the image is displayed at the target position.
The target determining unit 345 determines the target position of the part of the body of the target person EP based on the position of the part of the body of the target person EP, so that the current position of the part of the body of the target person EP is the same as the previous position. Even when the target position is deviated, the target to be reached can be set within a reachable range from the current position of a part of the body of the subject EP.
Further, the display control unit 342 controls the output device 200 to display the image at the actual target position, so that the target person EP can relatively easily grasp the target position. Further, the subject EP can relatively easily recognize that a part of the body has reached the target position. Further, in rehabilitation using the rehabilitation support system 1, an image can be displayed at a target position where a part such as a hand or foot is actually moved. As a result, it is possible to increase the possibility that the target person EP recognizes that the target position is indicated by the target person EP itself.
Further, by displaying the target image at the target position where the part such as the hand or foot is actually moved, the target person EP relatively easily recognizes where to move the part such as the hand or foot. And can perform actions for rehabilitation.
Further, by displaying the target image at the target position where the part such as the hand or foot is actually moved, the target person EP can relatively easily recognize that the part such as the hand or foot has reached the target position. Specifically, the target person EP has reached the target position of the part such as the hand or foot by actually confirming that the target image is displayed at the position where the part such as the hand or foot is displayed. I can recognize that.

The evaluation unit 346 also evaluates the relative positional relationship between the position of a part of the body of the subject EP and the target position. Then, the display control unit 342 causes the output device 200 to display the evaluation result obtained by the evaluation unit 346.
By referring to the display of the evaluation result, the target person EP can know the evaluation (for example, reaching or not reaching the target position) of the motion performed by the target person EP, and it can be useful for improving the motion. For example, the display control unit 342 controls the output device 200 in real time to display the evaluation result, so that the subject person EP can confirm the evaluation result every time the user performs an operation. When the evaluation is low, the subject EP can improve the operation so that the evaluation is high in the next operation.

Further, the display control unit 342 causes the evaluation result by the evaluation unit 346 to be displayed on at least one of the position of the part of the body of the subject EP and the target position.
Accordingly, the target person EP can relatively easily understand that it is a display of the evaluation result for the action performed by the target person EP itself.

The target determination unit 345 also calculates the amount of movement of a part of the body of the subject EP. Further, the target determination unit 345 determines the target position based on the calculated movement amount.
In this way, the target determining unit 345 calculates the amount of movement of the body part of the target person EP and determines the target position, so that an appropriate target according to the actual amount of movement of a part of the target person EP's body. The position can be set.

In addition, the motion region determination unit 343 determines a part to be detected among the parts of the body of the subject. Then, the display control unit 342 controls the output device 200 so as to display the image of the shape of the part corresponding to the part determined by the motion area determination unit 343 at the position corresponding to the position of the target person EP.
For example, when the motion region determination unit 343 determines that the motion region is a table (desk surface or desk) and determines the detection target part to be the wrist, the display control unit 342 causes the display control unit 342 to store the image stored in the storage unit 33. The image of the hand shape is selected and displayed on the output device 200. When the motion region determination unit 343 determines that the motion region is the floor (floor surface or floor) and determines the detection target site to be the ankle, the display control unit 342 causes the display control unit 342 to store the image stored in the storage unit 33. A foot-shaped image is selected from among the images and displayed on the output device 200.
In this way, the display control unit 342 controls the output device 200 to display the image showing the shape of the part of the body, and thus the target person EP intuitively recognizes that the image is an image related to the part of the body. Can be recognized. Therefore, it is possible to increase the possibility that the subject EP recognizes that the image is related to rehabilitation.

Rehabilitation using the rehabilitation support system 1 will be described in comparison with conventional rehabilitation performed by displaying an image of the target person EP on a display screen in front of the target person EP.
In the conventional rehabilitation in which the image of the target person EP is displayed on the display screen in front of the target person EP, the position where the image of the target person EP is displayed is different from the actual position of the target person EP. Therefore, the subject EP may not be able to recognize the image of the subject EP as the image of the subject EP itself. Furthermore, since the image of the target person EP is displayed in the left-right direction by so-called mirroring, the target person EP is more likely to be unable to recognize the image of the target person EP as the image of the target person EP itself.
When the evaluation of the motion of the target EP is displayed on the display screen because the target EP cannot recognize the image of the target EP as the image of the target EP itself, it is the evaluation of the target EP itself. May not be recognized. Further, even when the target image (image showing the target position) is displayed on the display screen, the target person EP may not be able to recognize that the target image is the target image shown to the target person EP itself.

On the other hand, in rehabilitation using the rehabilitation support system 1, an image is displayed in the operation area where the rehabilitation operation is performed. In view of displaying the image in the operation area, the target person EP indicates that the display image of the evaluation of the motion of the target person EP itself, the target image, and the like are images related to the rehabilitation of the target person EP itself. It can be recognized relatively easily. Further, the target person EP can directly grasp the image displayed in the operation area without having to recognize the image of the target person EP itself. Also in this respect, it is possible for the target person EP to relatively easily recognize that the display image of the evaluation of the motion of the target person EP itself, the target image, and the like are images related to the rehabilitation of the target person EP itself. it can.

In the conventional rehabilitation in which the image of the target person EP is displayed on the display screen in front of the target person EP, the position where the image of the target person EP is displayed is different from the actual position of the target person EP. Therefore, when the target image is displayed on the display screen, the target person EP determines the relative positional relationship between the position of the target person EP image and the position of the target image on the display screen as the actual position of the target person EP. It is necessary to grasp the actual target position by replacing it with the relative positional relationship of the actual target position. When the target person EP cannot successfully replace the relative positional relationship between the position of the image of the target person EP and the position of the target image on the display screen with the relative position relationship with the actual position of the target person EP, the actual target position May not be understood. In this case, the subject EP cannot recognize where to move a part such as a hand or a foot, and rehabilitation may be hindered.

On the other hand, in rehabilitation using the rehabilitation support system 1, a target image can be displayed directly at an actual target position. In this respect, the subject EP can grasp the target position relatively easily.

In the conventional rehabilitation in which the image of the target person EP is displayed on the display screen in front of the target person EP, the target person EP recognizes the reaching target position and moves a part such as a hand or foot to the reaching target position. In this case, the object displayed at the target position in the image cannot be touched. For this reason, there is a possibility that it may not be possible to grasp how far to move a part such as a hand or a foot, such as when the target person EP does not recognize that the reaching target position is reached and passes by the reaching target position.

On the other hand, in the rehabilitation using the rehabilitation support system 1, the target person EP actually sees and confirms that the target image is displayed at a position where a part such as a hand or a foot is present, and thereby the hand or the foot. It is possible to recognize that such a part has reached the target position. From this point, it is relatively easy for the subject EP to know how much to move the parts such as the hands and feet.

(Modification)
FIG. 16 is a perspective view showing a modified example of the system configuration of the rehabilitation support system 1.
The rehabilitation assistance control device 300 may be implemented by dividing its function into a plurality of devices. 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 by 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 the image projection device projects an image 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 the 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 the calibration by using, for example, the marker image displayed on the display device as a mark.

All or a part of each function provided in each device described above may be realized by 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 in 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, a CD-ROM, or a storage device such as a hard disk built in a computer system. Each program may be transmitted via a telecommunication line.

1... Rehabilitation support system, 100... Sensor, 200... Output device, 300... Rehabilitation support control device, 31... Input part, 32... Output part, 33... Storage part, 331... Calibration information storage part, 332... Judgment condition information Storage unit, 333... Detection history information storage unit, 334... Parameter information storage unit, 335... Program information storage unit, 34... Control unit, 341... Recognition unit, 342... Display control unit, 343... Operating area determination unit, 344... Recording unit, 345... Goal determination unit, 346... Evaluation unit, 347... Foot display parameter setting unit, 348... Hand display parameter setting unit, 349... Disturbance display parameter setting unit, 35... Operation unit, 36... Display unit

Claims (3)

A determining unit that subjects definitive the area for rehabilitation operation, sets a first portion of the subject's body and detected,
A detection unit that detects the position of the first portion within the region ;
A control unit that controls an output device that outputs an image to the region,
Equipped with
The control unit , during the rehabilitation operation, is a position on a plane included in the region, and displays the image at a position corresponding to the position of the first portion ,
The controller displays the image in a first size when the position of the first portion is at a first height from the plane, and the position of the first portion is at a second height different from the first height. the time, rehabilitation supporting apparatus characterized by displaying the images in the first size different from the second size. When the rehabilitation operation, further comprising a determination unit that determines a target position of a part of the body of the subject based on the position of the first portion ,
The rehabilitation support device according to claim 1, wherein the control unit changes the size of the image according to the height of the position of the first portion and displays the image in the region . The rehabilitation support apparatus according to claim 1, wherein the determination unit determines whether the first portion is a hand or a foot based on the area.

Images