JP6765654B2 - Rehabilitation device and control method - Google Patents

Description

The present invention, rehabilitation device, and a control method.

Conventionally, physiotherapists have conducted training (hereinafter, also referred to as rehabilitation) for patients whose motor function of a part of the body is paralyzed due to sequelae such as stroke to restore activities of daily living.
In a stroke, blood vessels in the brain bleed or block, and the blood flowing through the blood vessels in the brain cuts off oxygen and nutrients supplied to nerve cells in the brain, causing damage to nerve cells in the brain (hereinafter referred to as nerve cell damage). .) It is a disease to receive. A patient whose nerve cells in a part of the brain (for example, nerve cells in the motor cortex that issue motor commands for fingers) are damaged by a stroke go to the part of the body (for example, fingers) that the nerve cells control. It becomes impossible to issue the movement command of. Therefore, a part of the body cannot be moved, and the motor function of a part of the body is paralyzed as a dysfunction.
On the other hand, even when the motor function of a part of the body is paralyzed in this way, the motor function is performed by repeatedly exercising the part of the body and repeatedly stimulating the part of the body from the outside. Is empirically known to recover. This is because repeated physical movements under brain activity have made it possible for another nerve cell to issue a movement command in place of the damaged nerve cell, that is, to transmit the movement command. It is believed that this is due to the reconstruction of the nerve cell pathway (hereinafter referred to as the motor pathway). Based on this idea, a motion assisting device that performs physical exercise under an exercise command from the brain is known (for example, Patent Document 1). In the device shown in Patent Document 1, when a neurotransmission signal or a myoelectric potential signal is detected from a part of the paralyzed body, the paralyzed part of the body is moved by using an external force to perform physical exercise. Let me do it.

Japanese Unexamined Patent Publication No. 2005-95561

However, the device shown in Patent Document 1 is premised on the detection of a neurotransmitter signal or the like from a part of the patient's body. Therefore, it is difficult to apply it when the neurotransmission signal or the like is not detected, that is, when the exercise command intended to move a part of the patient's body does not transmit the exercise path well.

The present invention has been made in view of such circumstances, and an object of the present invention is to exercise to transmit an exercise command even in a patient who has difficulty in transmitting an exercise command by an intention to exercise. Provided are a rehabilitation device capable of performing training to establish a route , and a control method.

In order to solve the above-mentioned problems, the rehabilitation device according to one aspect of the present invention is a rehabilitation device for recovering activities of daily living of a patient whose motor function of a part of the body is paralyzed, and is a visual of the patient. A presenting unit that presents to the patient, a driving unit that assists the movement of the paralyzed part that is a part of the patient's paralyzed body by using an external force, and the driving unit based on the patient's brain wave. The unit is provided with a control unit that causes the assist operation, and the presenting unit presents an image including the target portion that is the same site as the paralyzed portion and is at least stationary. The control unit determines whether or not to cause the drive unit to perform the assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient, and determines whether or not the drive unit performs the assist operation, and the determination corresponding to the spectral intensity. When the spectral intensity changes with reference to the threshold value and the spectral intensity after the change is equal to or less than the determination threshold value, the driving unit is made to perform the assist operation, which is set in the past rehabilitation of the patient. The determination threshold value and the training status information, which is information on whether or not the drive unit is made to perform the assist operation with respect to the determination threshold value, are recorded in the storage unit, and this time based on the training status information. The determination threshold set in the training is determined .

In order to solve the above-mentioned problems, the rehabilitation device according to one aspect of the present invention is a rehabilitation device for recovering the daily life movement of a patient whose motor function of a part of the body is paralyzed, and is the visual aspect of the patient. A presenting unit that presents to the patient, a driving unit that assists the movement of the paralyzed part that is a part of the paralyzed body of the patient by using an external force, and the driving unit based on the brain wave of the patient. The unit is provided with a control unit that causes the assist operation, and the presenting unit presents an image including the target portion that is the same site as the paralyzed portion and is at least stationary, and is stationary. A moving image showing how the target part in the state of being in the state starts to move at the operation start time, which is a predetermined time, is presented, and the control unit determines whether or not the drive unit performs the assist operation on the brain wave of the patient. Judgment is made based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the above, and the spectral intensity changes based on the determination threshold value corresponding to the spectral intensity, and the spectral intensity after the change is obtained. Is equal to or less than the determination threshold value, and when the change occurs within a predetermined time before the operation start time, the drive unit is made to perform the assist operation.
The control method according to one aspect of the present invention is a control method of a rehabilitation device for recovering activities of daily living of a patient whose motor function of a part of the body is paralyzed, and is presented to the visual aspect of the patient. The presenting step, the driving step of assisting the driving unit to move the paralyzed part which is a part of the paralyzed body of the patient by using an external force, and the driving unit of the driving unit based on the brain wave of the patient. The presenting step includes a control step of causing an assist operation, and the presenting step presents an image including the target part which is the same part as the paralyzed part and is at least stationary, and is in a stationary state. A moving image showing how the target part starts to move at a motion start time, which is a predetermined time, is presented, and the control step constitutes a brain wave of the patient as to whether or not to cause the drive unit to perform the assist motion. Judgment is made based on a change in the spectral intensity of a predetermined frequency band included in the signal, the spectral intensity changes based on the determination threshold value corresponding to the spectral intensity, and the spectral intensity after the change is the determination. When the value is equal to or less than the threshold value and the change occurs within a predetermined time before the operation start time, the drive unit is made to perform the assist operation.

In order to solve the above-mentioned problems, the control method of the rehabilitation device according to the present invention is a rehabilitation method for recovering the activities of daily living of a patient whose motor function of a part of the body is paralyzed, and is the visual aspect of the patient. A presentation step of presenting to the patient, an assisting action of assisting the movement of the paralyzed part which is a part of the paralyzed body of the patient by using an external force, and the driving based on the brain wave of the patient. The presenting step includes a control step of causing the unit to perform the assist operation, and the presenting step presents an image including the target part which is the same part as the paralyzed part and at least in a stationary state. In the control step, a determination item for determining whether or not to cause the drive unit to perform the assist operation is determined based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave, and the spectral intensity is determined. When the spectral intensity changes based on the corresponding determination threshold value and the spectral intensity after the change is equal to or less than the determination threshold value, the driving unit is made to perform the assist operation in the past of the patient. The determination threshold value set in the rehabilitation and the training status information which is information on whether or not the driving unit is made to perform the assist operation with respect to the determination threshold value are recorded in the storage unit, and based on the training status information. The determination threshold value to be set in this training is determined.

As described above, according to the present invention, even in a patient in which it is difficult to transmit an exercise command by an intention to exercise, training for establishing an exercise path for transmitting the exercise command is performed. Can be done.

It is an image figure which shows the image of the structure of the rehabilitation apparatus by this embodiment. It is a block diagram which shows the structure of the apparatus of FIG. It is a figure which shows an example of the change of the brain wave with the passage of time. It is a flowchart which shows an example of the flow of the training performed using the apparatus of FIG. It is a flowchart which shows an example of the processing performed by the apparatus about the "exercise recall program" which is the training program performed using the apparatus of FIG. It is a figure for demonstrating the "exercise observation recall program" which is a training program performed by using the apparatus of FIG. It is a figure for demonstrating the "exercise observation recall program" which is a training program performed by using the apparatus of FIG. It is a flowchart which shows an example of the processing performed by the apparatus about the "exercise observation recall program" which is the training program performed using the apparatus of FIG. It is a flowchart which shows an example of the process which the apparatus performs about the "chewing program" which is the training program performed using the apparatus of FIG.

Hereinafter, the rehabilitation apparatus according to the embodiment of the present invention will be described with reference to the drawings.

<Definition of terms>
In the following description, a part of the body whose motor function is paralyzed is referred to as a "paralyzed part".
In addition, still images and moving images are collectively referred to as "images".
In addition, the same site as the paralyzed site is referred to as the "target site".
In addition, observing an image including the target part in a stationary state and recalling the movement of the paralyzed portion is referred to as "movement recall".
In addition, it is reminded that the patient who has the experience and memory observes the moving image of the target part in the stationary state and observes the image including the target part in the stationary state again to move the paralyzed part. Let's call it "exercise observation recall".
In addition, the pathway of nerve cells that transmit motor commands under brain activity is referred to as the "motor pathway."
In addition, by recalling the movement of the paralyzed part, it is said that the movement command issued from the brain transmits the movement path as "the movement command transmits".
In addition, assisting the movement of the paralyzed part using an external force is referred to as "assist".
In addition, the pressure applied between the teeth when they are bitten is called "chewing pressure".
Further, by Fourier transforming or wavelet transforming the time series data of the brain wave, the data obtained by analyzing the frequency band included in the brain wave is defined as a "spectrum", and a predetermined frequency band in the spectrum (for example, 8 to 13 [Hz (hertz)). ]), Let the magnitude of the signal component be "spectral intensity".

<First Embodiment>
FIG. 1 is an image diagram showing an image of the configuration of the rehabilitation apparatus according to the present embodiment.
The drive unit 3 of the rehabilitation device according to the present embodiment is used by being attached to the paralyzed part. In the example of FIG. 1, the paralyzed part is the left finger.
An electroencephalogram electrode 22 that acquires an electroencephalogram signal (hereinafter, also referred to as an electroencephalogram) is attached to the head of the trainee 1 (patient). In the example of FIG. 1, the mastication sensor 21 attached to the oral cavity of the trainee 1 is connected to the measurement unit 2, but it is not used in this embodiment. The training using the mastication sensor 21 will be described in the second embodiment.

The presentation unit 4 is installed in a place where the trainee 1 can see.
The presentation unit 4 displays an image including a stationary target portion, that is, a healthy left hand in a stationary state. The image including the target part in the stationary state is an image including at least the target part, as long as the target part is in the stationary state, and even if it is a still image, the moving image is paused. However, it may be a moving image in which the target portion is continuously displayed in a stationary state.
At this time, the presentation unit 4 may display an image different from the above-mentioned still image of the target portion on an image capable of prompting the trainee 1 to recall the movement. The image capable of promoting motion recall here is an image showing a state in which some object is stationary or moving, and motion recall in which the trainee 1 tries to touch the displayed object. It is an image that can be prompted. More specifically, when the object is, for example, a ball, it is possible to encourage the trainee 1 to recall a movement to grab the ball. Further, when the moving image shows a state in which the ball moves from one side to the other, it is possible to encourage the trainee 1 to recall a movement such as stopping the movement of the ball (or receiving the ball). Is. Further, for example, when the object is a kitten and the trainee 1 is interested in the cat, it is possible to encourage the trainee 1 to recall the movement of trying to touch (stroking) the kitten. ..
Then, the trainee 1 is made to visually recognize the image displayed on the presentation unit 4, and the trainee 1 is urged to recall moving the paralyzed portion.
The control unit 5 continuously acquires the brain waves before and after the image is visually recognized, and controls the assist operation of the drive unit 3 based on the spectral intensity of the brain waves with the passage of time. The control unit 5 determines whether or not the drive unit 3 is to perform an assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the trainee 1.
When the control unit 5 determines that the spectral intensity of the predetermined frequency band is equal to or less than a predetermined threshold value, the control unit 5 indicates that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command to the drive unit 3. By giving a notification, the assist operation is performed.
When the drive unit 3 receives a notification from the control unit 5 that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command, the drive unit 3 assists the paralyzed portion. For example, the drive unit 3 uses an external force to perform a hand movement such as holding or opening the left hand, which is a paralyzed part.
At this time, the control unit 5 causes the presentation unit 4 to display a moving image. This moving image is a moving image in which the target portion already displayed by the presentation unit 4 switches from a stationary state to a moving state, and is a movement of the left hand of the trainee 1 moved by the assisting operation of the driving unit 3. It is a moving image showing the same movement.
Further, at this time, it is preferable that the control unit 5 synchronizes the movement of the left hand shown by the moving image displayed on the presentation unit 4 with the movement of the assisting operation performed by the driving unit 3. This enables effective rehabilitation by linking visual stimuli and motion stimuli.

The image to be displayed on the presentation unit 4 described above is displayed in a state where the moving image is paused and the target part is stationary, and then the pause of the moving image is released and the target part moves from the stationary state. It may be a moving image that switches to a state, or it may be displayed by switching to a moving image in which the target part moves after displaying a still image of the target part.

The operation interface unit 8 outputs information on the implementation status of the training program using the rehabilitation device. In addition, the operation interface unit 8 receives input of information necessary for executing the training program.
The information regarding the implementation status of the training program output to the operation interface unit 8 may be visually recognized by the trainee 1 or by a person who causes the trainee 1 to perform the training.
Further, the input of the information necessary for the implementation of the training program may be performed by the trainee 1 or may be performed by the person who implements the training.
If the presentation unit 4 is provided with a function for receiving the input of the operation interface unit 8, the operation interface unit 8 may not be provided.

As described above, in the present embodiment, an image showing a state in which the target portion is stationary is displayed on the presentation unit 4, and the trainee 1 is made to visually recognize this image to recall the movement of the trainee 1. It can be facilitated.
In general, the more realistic the displayed image is, the more likely it is that the brain will have the illusion that it is actually moving. If the presenting unit 4 displays an image in which the left hand, which is the paralyzed part of the trainee 1, is stationary, and the trainee 1 visually recognizes the image and creates the illusion that it is his own hand, the trainee 1 is in the stationary state. The movement command is easier to transmit than when trying to move the left hand without visually recognizing the image of the target part.

Further, the control unit 5 assists the movement of the paralyzed part by the drive unit 3, and switches the image of the target part displayed on the presentation unit 4 from a stationary state to a moving state and displays the image. , Not only kinesthetic feedback but also visual feedback can be given to the brain of the trainee 1.
By having the trainee 1 repeatedly perform the movement of the paralyzed part and the visual recognition of the state of the movement based on the transmission of the movement command, the reconstruction of the movement path is advanced and the movement path is firmly established. Can be expected.

Further, it is preferable that the presenting unit 4 displays an image showing an object such as a ball different from the target portion together with the target portion in a stationary state. Compared to the case of visually recognizing an image showing only the target portion in a stationary state, the intention to move the left hand of the trainee 1 may be strengthened, and the movement command may be easily transmitted.

In this way, by using the rehabilitation device according to the present embodiment, it becomes easier to transmit the exercise command to the paralyzed part of the trainee 1, the reconstruction of the exercise path progresses, and the exercise path is firmly established. Can be expected. In particular, the fingers are required to move more delicately than the legs and arms. Therefore, when the paralyzed part is a finger, it is more difficult to perform effective rehabilitation than when the paralyzed part is a leg or an arm. By using the rehabilitation device according to the present embodiment, it can be expected that the motor function is restored even if the paralyzed part is a finger.

Further, since the operation interface unit 8 displays the training status, the trainee 1 can perform the training while checking the training status by himself, and it can be expected that the training will be accelerated.

Next, the configuration of the rehabilitation apparatus according to the present embodiment will be described with reference to FIGS. 2 and 3.
FIG. 2 is a block diagram showing the functions of the rehabilitation device according to the present embodiment. FIG. 3 is a diagram showing an example of a change in spectral intensity over time in a predetermined frequency band of signals constituting an electroencephalogram.

In the rehabilitation device of the present embodiment shown in FIG. 2, the measurement unit 2, the drive unit 3, the presentation unit 4, the control unit 5, the storage unit 6, and the operation interface unit 8 use a common route for exchanging data. It is connected via a certain bus 10. For example, the control unit 5 transmits the transmission data with the address of the data notification destination (for example, the measurement unit 2) to the bus 10, and the transmission data is transmitted to the measurement unit 2 which is the data notification destination by a transmission circuit (not shown). Is transmitted, and information is transmitted between the control unit 5 and the measurement unit 2.

The measuring unit 2 includes an electroencephalograph 20 and a mastication sensor 21. The electroencephalograph 20 measures an electroencephalogram by connecting an electroencephalogram electrode in contact with the head to the outside and acquiring an electroencephalogram signal corresponding to the electroencephalogram via the electroencephalogram electrode. The method for measuring the brain wave is not particularly limited, and for example, the brain wave may be measured using a non-contact type brain wave sensor or a magnetic sensor. Note that FIG. 2 shows a mastication sensor 21 that measures the mastication pressure, but since the mastication sensor 21 is used in another embodiment described later, it will not be described in this embodiment.

Further, the electroencephalograph 20 obtains the spectral intensity of a predetermined frequency band based on the electroencephalogram signal, and obtains the spectral intensity.
The control unit 5 is notified of the obtained spectral intensity.

From the viewpoint of performing rehabilitation easily and positively, it is desirable that the electroencephalogram electrode is easy to wear and safe. The electroencephalogram electrode is, for example, a cap to be worn on the head, and one in which the electrode can be placed on a part of the cap is preferable. When the trainee 1 is fitted with a cap, the electrodes installed on the cap come into contact with a part of the head. By doing so, the electroencephalogram electrode can acquire the electroencephalogram of the trainee 1 wearing the cap as an electroencephalogram signal detected from the electrode.

The drive unit 3 uses an external force to perform an assist operation. By performing this assist operation, the operation of moving the paralyzed portion is assisted. The drive unit 3 is driven based on the control from the control unit 5.
In the drive unit 3, for example, a rod-shaped part representing a skeleton, a bendable part representing a joint, and a stretchable part representing a muscle connecting the joint are combined in a mechanism suitable for the shape and function of the paralyzed part. It is composed of. The drive unit 3 is not limited to a specific product or the like as long as it can perform an assist operation, and any device can be used.

The presentation unit 4 makes a presentation to a human sense. The sensation to be presented is at least one of visual, auditory, and olfactory senses. The presentation here is to work on the sense of the object to be presented.
The presentation unit 4 of the present embodiment is, for example, a display device, and displays an image for human vision. The presentation unit 4 is installed at a position where the trainee 1 can visually recognize the image, and displays an image based on the control from the control unit 5.
In addition to the visual presentation, the presentation unit 4 may include one or both of devices that act on hearing, smell, and the like, for example, an acoustic output device (speaker), an incense burner (aroma diffuser), and the like.

The control unit 5 controls each block of the rehabilitation device according to the present embodiment.
The control unit 5 acquires the measurement result from the electroencephalograph 20, and based on the spectral intensity included in the measurement result, the change that occurs in the electroencephalogram is a predetermined change that occurs when an attempt is made to transmit an exercise command. Judge whether or not.

Generally, an electroencephalogram is detected as a signal in which signal waves having a frequency of 0.5 to 30 [Hz] are mixed, for example. Further, in the motor cortex of the brain, when the person is awake and at rest, the signal component in the frequency band of 8 to 13 [Hz] among the frequencies constituting the brain wave is compared with other frequency bands. Is often detected. Then, it is known that when the motion command is transmitted, the spectral intensity in the frequency band of 8 to 13 [Hz] temporarily decreases (decreases).

Utilizing this phenomenon, the control unit 5 changes the brain wave when this peculiar change occurs in the brain wave, that is, when the spectral intensity in the frequency band of 8 to 13 [Hz] becomes equal to or less than the reference value. Is determined to be a predetermined change that occurs when an attempt is made to transmit an exercise command. This reference value is a predetermined value.

FIG. 3 is a graph showing changes in brain waves with the passage of time. In the graph of FIG. 3, the time axis is shown on the horizontal axis, the frequency is shown on the vertical axis, and the spectral intensity of the frequency at that time is expressed by brightness (brightness adjustment). FIG. 3 shows a state in which the spectral intensity of the frequency band of 8 to 13 [Hz] decreases in the vicinity of time 4.5 to 6.0 [sec] (seconds). The time when the spectral intensity falls below the reference value corresponds to the time when the motion command is transmitted.

Next, it returns to FIG. 2 and will be described.
When the control unit 5 determines that the change generated in the brain wave is a predetermined change that occurs when trying to transmit an exercise command, the control unit 5 drives the drive unit 3 to drive the paralyzed part of the trainee 1. Assists the movement. The control unit 5 gives the trainee 1 a kinesthetic sensation as feedback for the transmission of the exercise command by causing the drive unit 3 to perform an assist operation.
Further, the control unit 5 may cause the drive unit 3 to perform an assist operation in synchronization with the moving image displayed on the presentation unit 4. The moving image displayed on the presentation unit 4 in this case is a moving image showing the same movement as the movement of the paralyzed part moved by the assisting operation of the driving unit 3. The process of synchronizing the moving image and the assist operation of the drive unit 3 will be described later.

The control unit 5 causes the presentation unit 4 to display an image including a target portion in a stationary state.
The image including the target portion in the stationary state is an image used to make it easier for the trainee 1 to recall a moving image of his / her paralyzed portion. The image including the target site in the stationary state is, for example, a still image of the fingers of a healthy person who is not contracted or relaxed, or a still image of the fingers of the trainee 1 himself.

The control unit 5 selects an image including a stationary target site based on attributes such as the degree of paralysis and gender of the trainee 1. The control unit 5 preferably selects an image including a target portion in a stationary state according to attributes such as male and female and left and right sides.
Further, the image including the target portion in the stationary state may be an captured image or an image created by using CG (Computer Graphics) or the like.

Further, the control unit 5 causes the presentation unit 4 to display a moving image under a predetermined condition.
This moving image is a moving image showing a state in which the target part shown in the image including the target part in a stationary state is operating, and is a moving image used as an operation example of moving the paralyzed part.
This moving image is an image in which the elapsed time from the start of reproduction of the moving image is an image at a specific time, for example, a moving image of 10 seconds when the image including the target part in a stationary state is a moving image. It may be an image displayed at the 5th second, or it may be a moving image different from the image including the target part in a stationary state.

The control unit 5 may cause (superimpose) an object different from the target portion on the image displayed on the presentation unit 4 together with the target portion.
This object is an object that draws out the motion recall of the paralyzed part from the trainee 1, for example, a ball, a kitten, or the like, which is associated with the movement of a human hand such as grasping or stroking. It is an object.

The control unit 5 may select an object to be included in the image to be displayed on the presentation unit 4 based on the individual hobbies and tastes of the trainee 1 or based on the training situation of the trainee 1. For example, the control unit 5 selects a "ball" as an object and displays it by the presentation unit 4, but when it is not determined that the brain wave has made a predetermined change in an attempt to transmit a movement command, the control unit 5 other than the "ball". An object, for example, a "kitten" is selected as an object to be included in the image to be displayed on the presentation unit 4.

The control unit 5 reads the information necessary for causing the trainee 1 to execute the training program from the storage unit 6 and acquires it. Further, the control unit 5 writes and stores the information obtained by causing the trainee 1 to execute the training program in the storage unit 6.

The control unit 5 reads the identification information of the trainee 1 from the storage unit 6 and acquires it. The identification information of the trainee 1 is, for example, information for identifying the trainee 1. By referring to the trainee database using this identification information, it is possible to obtain information such as the degree and gender of individual paralysis, or attribute information including information on individual hobbies and tastes. This trainee database may be inside the rehabilitation device or outside.
The control unit 5 writes and stores the training status information of the trainee 1 in the storage unit 6.
The training status information is information such as the type of the training program currently being implemented, the electroencephalogram determination threshold value, the presence / absence of an object to be included in the image, the determination result, or the history of the training program implemented in the past.
The electroencephalogram determination threshold value will be described later.

Further, the control unit 5 writes in advance data such as a plurality of images of the target portion in a stationary state, a moving image showing a state in which the target portion operates, and an image of an object to be included in these images, in the storage unit 6. It is stored in the storage unit 6. Then, the control unit 5 selects an image to be displayed on the presentation unit 4 based on the identification information of the trainee 1, the training status information, and the like.

The control unit 5 may display the waveform and spectral intensity of the brain wave on the operation interface unit 8 as, for example, a time-series graph as the training status of the trainee 1. Further, the control unit 5 may display the operation interface unit 8 when it is determined that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command.

Further, the control unit 5 stores the identification information of the trainee 1 to be stored in the storage unit 6 instead of being stored in the storage unit 6 or in the storage unit 6, and the operation interface unit 8 is stored in the trainee 1 and the like. It may be acquired by inputting it.
Further, the control unit 5 may store the training status of the trainee 1 to be stored in the storage unit 6 in the storage unit 6 instead of or in the storage unit 6 and display it on the operation interface unit 8.

The storage unit 6 stores information necessary for executing the training program in an internal storage area based on the control of the control unit 5.
The storage unit 6 is configured to include a storage area of the training information area 60 and the display information area 64.
The training information area 60 is a storage area for storing the identification information of the trainee 1 and the training status information of the trainee 1.
The display information area 64 stores image data of an image presented by the presentation unit 4, such as an image of a plurality of stationary target parts, a moving image showing a state in which the target part is operating, and an image of an object included in these images. Storage area.

The operation interface unit 8 includes an input unit 80 and an output unit 81. The input unit 80 is, for example, an input device, receives an external operation input, and notifies the control unit 5 of the information indicated by the external operation input. The output unit 81 is, for example, a display device, and under the control of the control unit 5, displays a screen showing the training status or the like to the outside. Further, when a notebook type PC (Personal Computer) is used as the operation interface unit 8, the keyboard of the PC corresponds to the input unit 80, and the display of the PC corresponds to the output unit 81. In this case, the calculation processing unit (central processing unit) in the PC may be allowed to perform the processing of the control unit 5, but since such processing is not an essential component of the present invention, detailed description thereof will be omitted. ..

Further, it is preferable to use a touch panel as the operation interface unit 8. As a result, both the functions of the input device and the display device can be realized by a single device, so that space can be saved and costs can be reduced.
Further, it is preferable to use a device such as a tablet PC, a smartphone, or a wearable terminal for the operation interface unit 8. As a result, the functions of the operation interface unit 8, the control unit 5, and the storage unit 6 can be realized by a single device, which is more preferable from the viewpoint of space saving and cost reduction. When these devices are used, the function of the presentation unit 4 can also be included.

FIG. 4 is a flowchart showing the flow of processing performed by the rehabilitation apparatus when the trainee 1 is made to carry out the training program which is the content of the rehabilitation.

The training program is composed of, for example, three types of programs: (1) exercise recall program, (2) exercise observation recall program, and (3) mastication program. The rehabilitation device selects a training program to be carried out by the trainee 1 according to the degree of paralysis of the trainee 1 and the past training results. The (3) mastication program will be described in the second embodiment described later.

First, the prerequisites for implementing any of the above-mentioned multiple training programs will be described.
The presentation portion 4 is installed between the left hand and the eye, which is the paralyzed portion of the trainee 1. That is, when viewed from the trainee 1, the forearm on the left side of the trainee 1 is hidden behind the presentation portion 4 and cannot be visually recognized. Then, the trainee 1 sees the image of the left hand presented by the presentation unit 4 at the position where the forearm on the left side of the trainee should be. The image of the left hand presented by the presentation unit 4 is the portion beyond the left forearm, and the image of the left hand presented by the presentation unit 4 is displayed at a position as if it were the trainee's own left hand. , It is assumed that the presentation unit 4 is arranged.

In this embodiment, the case where the paralyzed part is the left hand is described as an example, but the case where the paralyzed part is the right hand can also be adjusted appropriately.
When a head-mounted display, which is a display device worn on the head, is used as the presentation unit 4, the presentation unit 4 is mounted on the head of the trainee 1 so as to cover the eyes of the trainee 1. , The image of the target part is displayed for the trainee 1.

Next, the operation of the above-mentioned rehabilitation device will be described.
At the start of the operation of the rehabilitation device, an electroencephalogram electrode for measuring an electroencephalogram is attached to the head of the trainee 1, and a drive unit 3 is attached to the paralyzed portion of the trainee 1. ..
The control unit 5 acquires the identification number of the trainee 1 stored in the training information area 60 or input from the outside via the operation interface unit 8 (step S1).

The control unit 5 reads out and acquires the identification information of the trainee 1 stored in the training information area 60 and the training status information of the trainee 1 in association with the identification number of the trainee 1.
The control unit 5 selects and sets a training program to be executed by the trainee 1 based on the identification information and the training status information (step S2).

When the training status information of the trainee 1 is information indicating that the trainee 1 has no past training history and the training program is to be carried out for the first time, the control unit 5 causes the trainee 1 to carry out the training program. For example, (1) it is preferable to set it in the exercise recall program. This is because the (1) exercise recall program is set for the trainee 1 whose degree of paralysis is milder than that of the (2) exercise observation recall program and (3) mastication program.
If the training status information of the trainee 1 has a history of executing the past training program, the control unit 5 sets the same training program as the training program of the previous training in principle. Further, the control unit 5 sets the training status information of the trainee 1 to the designated training program when the training program is designated after the end of the previous training program. ..

The control unit 5 sets the electroencephalogram determination threshold value based on the training status information of the trainee 1 recorded in the training information area 60 (step S3).
The electroencephalogram determination threshold value is a threshold value for determining whether or not an exercise command has been transmitted from the trainee 1. That is, the control unit 5 compares the spectral intensity of the trainee 1 during the training program with the brain wave determination threshold value, and transmits an exercise command when the spectral intensity becomes equal to or less than the brain wave determination threshold value. It is determined that the brain wave has made a predetermined change.

Here, the electroencephalogram determination threshold value will be described.
The electroencephalogram determination threshold value is set based on the ratio R of the spectral intensity represented by the following equation (1).

R = A / S ... (1)

In the above equation (1), A represents the spectral intensity of a predetermined frequency band when the exercise of the trainee 1 is recalled, and S represents the spectral intensity of the predetermined frequency band when the trainee 1 is at rest.
That is, the ratio R of the spectral intensity is the spectral intensity A at the time of motion recall with respect to the spectral intensity S at rest for a predetermined frequency band of the trainee 1.
In general, the spectral intensity decreases when the motion command is transmitted with the motion recall, so the ratio R of the spectral intensity is the rate of decrease in the spectral intensity when the motion command is transmitted with the motion recall. Shown. Hereinafter, when the electroencephalogram determination threshold value is described, the electroencephalogram determination threshold value is also referred to as “electroencephalogram determination threshold value Th”.

The electroencephalogram determination threshold value Th is set based on the ratio R of the spectral intensity. For example, when the ratio R of the spectral intensity is 0.7, the spectral intensity of a predetermined frequency band at rest of the trainee 1 is set. When S is 100, the electroencephalogram determination threshold value Th (= R × S) is 70. In this case, when the spectral intensity at the time of recalling the exercise becomes equal to or less than the electroencephalogram determination threshold value Th (= 70), it is determined that the electroencephalogram has undergone a predetermined change in an attempt to transmit the exercise command. Further, when the spectral intensity when recalling the exercise exceeds the brain wave determination threshold value Th (= 70), it is determined that the brain wave does not make a predetermined change in an attempt to transmit the exercise command.

Here, it is generally known that the spectral intensity decreases when an exercise command is transmitted in association with exercise recall, but the ratio R of the decreased spectral intensity is given to healthy subjects and patients with paralysis. Regardless, there are individual differences. Therefore, how much the spectral intensity of the predetermined frequency band decreases with respect to the resting time when there is an exercise command is based on the spectral intensity of the predetermined frequency band at resting of the trainee 1. Is desirable.

The control unit 5 measures the resting spectral intensity S of the trainee 1 in advance, and sets the brain wave determination threshold value Th based on the spectral intensity ratio R with the spectral intensity S as a reference.
The control unit 5 determines the brain wave of the training program to be executed by the trainee 1 when there is no training status information of the trainee 1, that is, when the trainee 1 has no past training history and is to be trained for the first time. The value Th is set to the electroencephalogram determination threshold value Th (= 0.7 × S) corresponding to a predetermined ratio, for example, the ratio R (= 0.7) of the spectral intensity.

When setting the electroencephalogram determination threshold value, it may be set based on the attenuation factor R'of the spectral intensity represented by the following equation (2).

R'= (SA) / S ... (2)

In the above equation (2), A and S are the same as the equation (1) of the ratio R of the spectral intensities, that is, the attenuation rate R'of the spectral intensity is the spectral intensity at rest with respect to the spectral intensity S at rest. It is the attenuation rate of A. Therefore, the relationship of R'= 1-R is established.

When the brain wave determination threshold value Th'is set based on the attenuation factor R'of the spectral intensity, if the attenuation factor R'is 0.3, the spectral intensity S of the predetermined frequency band at rest of the trainee 1 is set. When it is 100, the electroencephalogram determination threshold value Th'is 30 (= R'x S). In this case, when the attenuation of the spectral intensity when recalling the movement becomes the brain wave determination threshold value Th'(= 30) or more, it is determined that the brain wave has made a predetermined change in an attempt to transmit the movement command. Further, when the attenuation of the spectral intensity when recalling the motion is less than the brain wave determination threshold value Th'(= 30), the brain wave does not make a predetermined change in an attempt to transmit the motion command in accordance with the motion recall. judge.

When there is training status information of the trainee 1, the control unit 5 sets the same brain wave determination threshold value Th as the training program of the previous time in principle. Further, when the control unit 5 has the training status information of the trainee 1 and the brain wave determination threshold value is specified after the end of the previous training program implementation, the control unit 5 is assigned to the designated training program. Set.

Further, the control unit 5 sets a target (step S3).
The goal set by the control unit 5 is, for example, that the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command five or more times in a row in the set training program. Is.

The control unit 5 causes the trainee 1 to execute the set training program (steps S4 to S6). The contents of each training program will be described later.

When the training program is completed, the control unit 5 writes and stores the execution result of the training program in the training status information of the training information area 60 (step S7).
As a result of executing the training program, the control unit 5 stores information such as the type of training program, the electroencephalogram determination threshold value Th, the presence / absence of an object to be included in the image, the determination result, the achievement of the goal, etc. in the training information area 60. ..

When the target set at the start of the training program is achieved, the control unit 5 specifies the electroencephalogram determination threshold value Th to be set at the next training program implementation.
The electroencephalogram determination threshold value Th, which should be set when the next training program is executed, is a value whose ratio R is smaller than the value set at the start of the training program this time. That is, the electroencephalogram determination threshold value Th is set to a value that is lower than the spectral intensity S at rest.
For example, the control unit 5 sets the electroencephalogram determination threshold value Th to 0.7 × S at the start of the current training program, and when the training target is achieved, sets the electroencephalogram determination threshold value Th to 0 at the next training program implementation. Specify 6 × S.

The control unit 5 specifies the training program to be executed next time when the target set at the start of the training program is achieved and there is no brain wave determination threshold value Th to be set at the time of executing the next training program. In this case, the control unit 5 selects, for example, a training program for a case where the degree of paralysis is lighter among the plurality of training programs.
The control unit 5 has no training program to be executed next time, for example, when the set target is achieved for the training program for the case where the degree of paralysis is the lightest among the plurality of training programs, the control unit 5 is set as the program to be executed next time. The program of the same training program may be specified, or the same training program may be specified again after changing the image (step S12 described later).

Even when the setting target of the training program for the case where the degree of paralysis is the lightest is achieved, the rehabilitation device of the present embodiment assists the paralyzed part by the drive unit 3, so that it is equivalent to a healthy person. Activities of daily living have not always recovered. Therefore, it is desirable to continue the training program within a range that does not cause an excessive load on the trainee 1.

The control unit 5 further determines whether to continuously execute the training program or terminate the training program (step S8).
When the instruction indicating the end of the training program is not input and the predetermined upper limit of implementation time has not elapsed from the start of the training program, the control unit 5 returns to step S2 and causes the training program to be continuously executed (). Step S8 NO).
The control unit 5 terminates the training program when an instruction indicating the end of the training program is input or when a predetermined upper limit of implementation time has elapsed from the start of the training program (step S8 YES). Then, this flowchart ends.
Here, the execution upper limit time is set by the control unit 5 according to the training situation and concentration of the trainee 1 or based on the information input via the operation interface unit 8. The control unit 5 has, for example, the attribute information (for example, age, etc.) and the training status information (for example, the training time performed in the past training) of the trainee 1 with the upper limit of implementation time as a guideline of about 5 to 30 minutes. Set based on such as.

FIG. 5 is a flowchart showing the flow of the training program when (1) the exercise recall program is implemented. FIG. 8 is a flowchart showing the flow of the training program when (2) the exercise observation recall program is implemented. FIG. 9 is a flowchart showing the flow of the training program when (3) the mastication program is carried out.
FIGS. 5 to 9 will be used to describe the flow of processing performed by the rehabilitation device when each training program is carried out using the rehabilitation device according to the present embodiment.

<(1) Exercise recall program>
(1) The flow of the exercise recall program will be described with reference to FIG.
(1) The exercise recall program is a training in which the trainee 1 attempts to transmit an exercise command by visually recognizing and observing an image including a stationary target portion.

First, the control unit 5 refers to the trainee database based on the identification information, and provides information such as the site of the paralyzed part of the trainee 1 and the degree and gender of each paralysis, and information such as individual hobbies and tastes. Get attribute information including.
Further, the control unit 5 refers to the training information area 60 based on the identification information of the trainee 1, and acquires training status information such as the history of the training program executed in the past by the trainee 1 (step S11). ..

Next, the control unit 5 selects an image (described as "image 1" in FIG. 5) including the target portion in a stationary state based on the acquired attribute information of the trainee 1 and the training status information. (Step S12).
At this time, the control unit 5 selects a moving image (described as "image 2" in FIG. 5) showing how the target part in the stationary state operates together with the image including the selected target part in the stationary state. It is desirable to do.

Further, the control unit 5 may select an object to be included in the image based on, for example, attribute information and training status information.
For example, the control unit 5 may select an object that suits the hobby or taste of the trainee 1 based on the attribute information, include it in the image, and display it. Further, the control unit 5 displays the image by excluding the objects that are included in the image and displayed in the past training based on the training status information and the motion command is not transmitted in the past training. You may select the objects to include.
Even if the trainee 1 is not interested in playing the ball and cannot recall trying to grab the ball from the image in which the "ball" is included in the image in which the hand, which is the target part, is stationary. If you like animals, the image containing the "kitten" may remind you to stroke the kitten by hand and convey a movement command.
The image including the target part in the stationary state may be a still image or a moving image, or may be a still image in which a stationary object is included in the image including the target part in the stationary state, or the target in the stationary state. It may be a moving image in which a moving image in which an object moves is included in the image including a part.

The control unit 5 causes the presentation unit 4 to display the selected image (step S13).
Then, the trainee 1 who visually recognizes the image tries to recall the movement.
Here, the rehabilitation device according to the present embodiment may include a voice output unit (not shown), and in this case, the control unit 5 makes an announcement or a sound effect to urge the trainee 1 to transmit an exercise command. Etc. may be output from the audio output unit. As the audio output unit, a speaker or the like built in the PC used as the operation interface unit 8 may be used. As a result, it is expected that the motivation of the trainee 1 will be suppressed and the concentration on rehabilitation will be improved.

The control unit 5 acquires the spectral intensity from the measurement unit 2 and compares the spectral intensity with the electroencephalogram determination threshold value Th. When the spectral intensity becomes equal to or less than the electroencephalogram determination threshold value Th, the control unit 5 determines that the electroencephalogram has undergone a predetermined change in an attempt to transmit an exercise command (step S14 YES).
At this time, the control unit 5 may have the output unit 81 output an image or voice indicating that it is determined that the movement command has been transmitted based on the change in the brain wave of the trainee 1.

On the other hand, if the spectral intensity does not fall below the electroencephalogram determination threshold value Th within a predetermined fixed time, the control unit 5 does not determine that the electroencephalogram has undergone a predetermined change in an attempt to transmit an exercise command. (Step S14 NO).
At this time, the control unit 5 may have the output unit 81 output an image or voice indicating that the motion command has not been determined to have been transmitted based on the change in the brain wave of the trainee 1.

When the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command, the control unit 5 causes the drive unit 3 to perform an assist operation (step S15).
The drive unit 3 assists the paralyzed portion of the trainee 1 based on the control signal from the control unit 5. The drive unit 3 causes the trainee 1 to perform a hand-holding motion, for example.
When the drive unit 5 is driven, the control unit 5 may stop the drive after a certain period of time, or when the spectral intensity of the brain wave of the trainee 1 returns to the same level as at rest, the drive unit 3 The drive may be stopped.

Further, when the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit a movement command, the control unit 5 displays a moving image (image 2) on the presentation unit 4, and the brain wave is predetermined to transmit the movement command. If it is not determined that the change has occurred, the presentation unit 4 is made to display an image (image 1) including the target portion in a stationary state as it is (step S15).
The moving image displayed on the presentation unit 4 is a moving image in which the movement of the paralyzed portion that causes the driving unit 3 to perform an assist operation and the movement of the target portion in the moving image are the same. At this time, the control unit 5 synchronizes the movement of the target portion in the moving image with the movement of the paralyzed portion that causes the drive unit 3 to perform an assist operation.

For example, when the control unit 5 causes the drive unit 3 to perform a hand-holding operation, the presentation unit 4 also displays a moving image showing the hand-holding operation. By doing so, the brain of the trainee 1 is given visual feedback as well as a kinesthetic sensation, and the establishment of a motor pathway through which a motor command is transmitted is promoted.

The control unit 5 writes the execution result in the storage unit 6 and stores it (step S16).
As an implementation result, the control unit 5 provides information such as an implementation training program, a displayed image, an electroencephalogram determination threshold value, and whether it is determined that the electroencephalogram has undergone a predetermined change in an attempt to transmit an exercise command in the training information area. Remember in 60 training situations.

The control unit 5 determines whether the training has been tried a predetermined number of times (step S17). When the number of times of training, which is the number of times the training has been tried, is less than the predetermined number of times, the process returns to step S13, and the same program is executed corresponding to the same electroencephalogram determination threshold value Th (step S17 NO). When the number of trainings reaches a predetermined number (YES in step S17), it is determined whether or not the training goal has been achieved (step S18).

The control unit 5 sets, for example, that the transmission of the motion command is detected five times in succession as a setting target. The control unit 5 sets, for example, by storing in the storage unit 6 the results of the training performed and whether or not it is determined that the brain wave has made a predetermined change in an attempt to transmit an exercise command in the training. Determine if the goal has been achieved.
Further, as a setting target, the control unit 5 sets in advance, for example, an upper limit of the number of trainings when it is not determined that the brain wave has made a predetermined change in order to transmit an exercise command. By doing so, even if it is not determined that the brain wave has made a predetermined change in an attempt to transmit an exercise command, the brain wave has a predetermined change in an attempt to transmit an exercise command even after a predetermined number of trainings have been performed. If it is not determined that you have done (1) end the exercise recall program.

If the number of trainings has not reached the set target, the control unit 5 returns to step S12.
At this time, the control unit 5 excludes the image used when it is determined that the brain wave does not make a predetermined change in an attempt to transmit the exercise command in this training based on, for example, the training status information. You may select the objects to be included in.
Further, in order to reduce the load of the process of selecting an object, the same training program may be executed using the still image selected immediately before, and the process may return to step 13.
When the set target is achieved, the control unit 5 ends this flowchart (step S18 YES).

As described above, in (1) the exercise recall program, the control unit 5 can promote the exercise recall of the trainee 1 by displaying the target portion in a stationary state on the presentation unit 4.
Further, when the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command, the control unit 5 causes the drive unit 3 to perform an assist operation to return kinesthetic feedback to the trainee 1. Can be done.
Further, when the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit an exercise command, the control unit 5 causes the presentation unit 4 to display a moving image showing how the target part moves, so that the trainee 1 Can give visual feedback to.
Further, when the control unit 5 determines that the brain wave has undergone a predetermined change in an attempt to transmit a movement command, the control unit 5 synchronizes the drive operation of the drive unit 3 with the movement of the target portion in the moving image of the presentation unit 4. This makes it possible to return more realistic kinesthetic and visual feedback to the trainee 1.
Further, the control unit 5 sets the brain wave determination threshold value Th stepwise when it is determined that the brain wave has made a predetermined change in order to transmit the exercise command, and the transmission of the exercise command changes from the weak stage. By repeating the training by grasping the above, the trainee 1 can be gradually trained so that the transmission of the exercise command can be clearly recognized.

Further, since the control unit 5 can select an object to be included in the image displayed by the presentation unit 4 according to the training status information of the trainee 1, the exercise recall of the trainee 1 can be recalled from various aspects. It is also possible to encourage.

<(2) Exercise observation recall program>
Next, the flow of the exercise observation recall program will be described with reference to FIGS. 6 to 8.
FIG. 6 is a diagram for explaining the “exercise observation recall program”. In FIG. 6, the horizontal axis shows the time axis, the vertical axis shows the spectral intensity, and the change in the spectral intensity with the passage of time is shown. In the example of FIG. 6, the spectral intensity indicates the spectral intensity at rest between time A and time B. Then, it starts to decrease at time B and decreases most at time C. Then, the spectral intensity shows that it returns to the resting level again at time D (E).
The (2) motion observation recall program is carried out in the above-mentioned (1) motion recall program when the change in the spectral intensity indicating the transmission of the motion command is weak.
(2) In the exercise observation recall program, the trainee 1 visually recognizes an image in which the stationary target part moves after a certain period of time in advance, and has the experience and memory of the target part in the stationary state again. It is a training that attempts to transmit a motion command by observing an image including a part.

Here, (2) the terms used to explain the exercise observation recall program are defined as follows.
The time at which the image presentation is started is defined as the “image presentation start time A” (time A in FIG. 6).
Further, the time at which the determination as to whether or not a predetermined change is confirmed is started is set as the "determination start time B" based on the spectral intensity of the trainee 1 who visually recognizes the image (time B in FIG. 6).
In addition, based on the spectral intensity of the trainee 1 who visually recognized the image, the time at which the largest change is expected to be confirmed among the predetermined changes for transmitting the motion command is set as "reaction assumption". Let it be "time C" (time C in FIG. 6).
Further, the time after the elapse of the "reaction time X", which is a predetermined time from the "estimated reaction time C", is referred to as the "operation starting point time D" (time D in FIG. 6).
Further, the time at which the determination as to whether or not a predetermined change is confirmed is completed based on the spectral intensity of the trainee 1 who visually recognizes the image is set as the “determination end time E” (time E in FIG. 6).
Further, the time between the "determination start time B" and the "determination end time E" is defined as the "determination time Y".

As shown in FIG. 6, the "reaction time X" is set so that the end of the "reaction time X" is the "operation starting point time D". The "reaction time X" is a time set for each individual trainee 1, and it is expected that it will take from the "estimated reaction time C" until the paralyzed part of the trainee 1 actually moves. It's time. The "reaction time X" will be described in detail later.
Further, as shown in FIG. 6, the "determination time Y" is set so that the time at which half of the "determination time Y" has elapsed is the "estimated reaction time C". The length of the "determination time Y" is determined based on the "reaction time X", and is, for example, 0.5 to 3 times, more preferably 1 to 2.5 times the "reaction time X". is there.

(2) In the image used in the exercise observation recall program, a scene in which the target part in a stationary state is shown to the trainee 1 is displayed, and the “motion starting point time D” after a predetermined time has elapsed from the display. ], It is an image showing how the target part in the stationary state moves.

It is also possible to present an image (image 1) including the target part in the stationary state, and after a certain period of time, switch to an image (image 2) showing how the target part in the stationary state moves. Good. Even in such a case, it can be said that the image obtained by combining the image 1 and the image 2 is an image having the “operation starting point time D”. In this case, the time of switching from the image 1 to the image 2 is the "operation start time D".

In general, it is known that when a person receives a stimulus such as by visually recognizing an image, it takes a certain time from receiving the stimulus until the exercise command is transmitted and the exercise is actually started. .. That is, from the time when a predetermined change for transmitting an exercise command from the brain is confirmed (“reaction estimated time C”), it takes a certain time (“reaction”) until the paralyzed part of the trainee 1 actually moves. Time X ") is required.
For example, when a person visually recognizes a rolling ball, recalls the intention to grab it, and grabs it, the spectral intensity drops the most at the "estimated reaction time C", and the "reaction time X" elapses from there. The operation of grasping at a later time "operation start time D" is performed.

On the other hand, in the case of a patient with paralysis, even if a predetermined change occurs in the brain wave, the timing of the change may be different from the timing of the change caused by transmitting an exercise command. That is, in the case of a patient with paralysis, when a predetermined change occurs in the brain wave, it is necessary to distinguish whether or not the change is caused by transmitting an exercise command. In order to enhance the rehabilitation effect, it is desirable to carry out training that causes a decrease in spectral intensity when recalling exercise at an appropriate timing.
Therefore, in the (2) motion observation recall program, the trainee 1 determines whether or not the time point at which a predetermined change occurs in the brain wave and the spectral intensity is the lowest is within the "judgment time Y". It is determined whether or not the brain wave has made a predetermined change in an attempt to transmit an exercise command at an appropriate timing. By doing so, it becomes possible to determine that the decrease in spectral intensity caused by transmitting the motion command is different from the decrease in spectral intensity caused by other reasons, and it is possible to prevent erroneous determination. be able to.

Since the "reaction time X" varies from person to person, it is preferable to measure it in advance. As a method of measurement, for example, there is a method of using the relationship between the decrease in spectral intensity due to the presentation of an image and the start of operation of a non-paralyzed part. For example, the trainee 1 is made to visually recognize an image that causes the motion, and the time when the spectral intensity is the lowest at that time and the motion start time of the non-paralyzed portion are measured. Then, the time of the difference between the time when the spectral intensity is the lowest and the operation start time can be set as "reaction time X".
Further, as a method of measuring "reaction time X", for example, there is a method of using the relationship between the time when the spectral intensity is most lowered from the spectral intensity at rest after the image is presented and the operation starting point time of the image. For example, let the trainee 1 visually recognize the image, and let the time difference between the time when the spectral intensity is the lowest at that time and the "motion starting point time D" at which the target part in the image starts to move is the "reaction time X". be able to.
When it is difficult to measure the "reaction time X" in advance, the "reaction time X" may be set to 0 seconds to 2 seconds, more preferably 0 seconds to 1 second.

Further, if the "judgment time Y" is lengthened, the difficulty level of the training becomes easy, and if the "judgment time Y" is shortened, the difficulty level of the training becomes difficult. By measuring the "reaction time X" in advance and setting the "determination time Y" based on the measurement, it is possible to set the training conditions according to the individual characteristics, and it is expected that the effect of rehabilitation will be further enhanced.

(2) In the exercise observation recall program, it is expected that the exercise command is transmitted from the trainee 1 who visually recognizes the image even when the change in the spectral intensity indicating the transmission of the exercise command from the trainee 1 is weak. After the time "estimated reaction time C" to "starting point time D" elapses, the trainee 1 is made to visually recognize how the target part in a stationary state starts to move, so that the exercise command is transmitted at an appropriate timing. Training is performed so that the brain wave makes a predetermined change.

Therefore, in the (2) motion observation recall program, an image (image 1) of the target portion in a stationary state is first presented at the "image presentation start time A", and when the "motion starting point time D" is reached, the stationary state is reached. An image (image 2) in which the target portion of the above starts to move is presented. At this time, it is preferable that the scene in which the target site in the stationary state is shown is presented for at least a time of "reaction time X" or more.

Further, in (2) the exercise observation recall program, it is preferable that the trainee 1 visually recognizes the moving image in advance prior to the implementation of the training program. That is, the trainee 1 has already recognized that the stationary target part starts to move after a predetermined time (here, “movement start time D”), and has the experience and memory (in this case). 2) It is preferable to carry out an exercise observation recall program.

Then, in (2) the motion observation recall program, the spectral intensity of the trainee 1 changes to the electroencephalogram determination threshold value Th or less, and the change is the “estimated reaction time C” before the “motion starting point time D”. When it occurs within a predetermined time including, that is, during the "judgment time Y" from the "judgment start time B" to the "operation start time D", the brain wave makes a predetermined change in order to transmit an exercise command. Is determined.

On the other hand, when the spectral intensity changed below the EEG determination threshold Th, but the change did not occur during the "judgment time Y", or the spectral intensity did not change below the EEG determination threshold Th. If this is the case, it is determined that the brain wave does not make a predetermined change by transmitting an exercise command.

FIG. 7 is a diagram for explaining the “exercise observation recall program”. In both FIGS. 7 (a) and 7 (b), the horizontal axis shows the time axis and the vertical axis shows the spectral intensity. Further, FIG. 7 shows a case where the “reaction time X” is 1 second and the “judgment time Y” is 1.5 seconds, and 0.75 seconds after the “judgment time start time B” is the “estimated reaction time C”. Is shown.
As shown in FIG. 7A, when the spectral intensity of the trainee 1 changes below the brain wave judgment threshold Th during the “judgment time Y”, the brain wave makes a predetermined change in an attempt to transmit an exercise command. It is determined that it has been done.
On the other hand, when the spectral intensity of the trainee 1 does not change below the electroencephalogram determination threshold value Th during the “determination time Y” as shown in FIG. 7 (b), the electroencephalogram is predetermined by transmitting an exercise command. It is judged that there is no change in.

Here, with respect to the flow shown in FIG. 8, the same parts as those in (1) motion recall program of FIG. 5 will be omitted, and only the parts having differences will be described.
(2) As a premise for implementing the exercise observation recall program, the trainee 1 is made to visually recognize the image in advance. That is, it is assumed that the trainee 1 has already recognized the image of the stationary target part starting to move after the "movement start time D", and has the experience and memory.
In general, it is known that a person often recalls a matter based on past experience and memory, and it is easy to recall the matter experienced in the past.

First, in steps S21 to 23, the control unit 5 performs the same processing as in steps S11 to 13 of (1) the motion recall program. In FIG. 8, regarding the image used in (2) the motion observation recall program, an image including a stationary target part is selected as the image 1, and the stationary target part moves as the image 2. Image 2 Shows a case where a moving image shown immediately after the start of presentation is selected. That is, the time for switching between the image 1 and the image 2 is the "operation start time D". Therefore, the control unit 5 switches the image 1 to the image 2 at, for example, the “operation starting point time D” after displaying the “reaction time X” or more (not shown).

Next, after displaying the image 1 on the presentation unit 4, the control unit 5 acquires the spectral intensity from the measurement unit 2 of the trainee 1 until the “operation start point time D” is reached (step S24). , Spectral intensity and EEG determination threshold Th are compared. Then, when the spectral intensity of the trainee 1 changes to the electroencephalogram determination threshold value Th or less and the change occurs during the "determination time Y", the control unit 5 attempts to transmit an exercise command. It is determined that the brain wave has made a predetermined change (step S25 YES).

On the other hand, the control unit 5 determines that the spectral intensity of the trainee 1 does not change below the electroencephalogram determination threshold value Th, or the spectral intensity of the trainee 1 determines the electroencephalogram until the “operation start time D”. Even if the threshold value changes to Th or less, if the change does not occur during the "judgment time Y", it is determined that the brain wave does not make a predetermined change in an attempt to transmit an exercise command. (Step S25 NO).

When the control unit 5 determines that the motion command has been transmitted, the control unit 5 causes the drive unit 3 to perform an assist operation at the “motion start point time D” in the same manner as in step S15 of the motion recall program (step S26-1). Further, at this time, the image 1 displayed on the presentation unit 4 reaches the "motion starting point time D", the image 2 is presented, and the image of the stationary target portion "moving from the motion starting point is the assist operation". Displayed in sync.

On the other hand, the control unit 5 does not drive the drive unit 3 if it does not determine that the brain wave has made a predetermined change in an attempt to transmit an exercise command. Even in this case, when the image 1 displayed on the presentation unit 4 reaches the "operation start time D", the image 2 is presented and a moving image of the stationary target portion starting to move is displayed. (Step S26-2). That is, regardless of whether or not the brain wave has undergone a predetermined change in an attempt to transmit an exercise command, the presentation unit 4 displays an image showing how the stationary target portion starts to move.

Then, in steps S27 to 29, the control unit 5 performs the same processing as in steps S16 to 18 of (1) the motion recall program.

In this way, (2) the exercise observation recall program allows the trainee 1 to visually recognize the image used for training in advance, and after strongly recognizing how the target part in the stationary state moves and the timing at which it starts to move, the subject is subjected to the training. Since the trainee 1 can carry out the training program, it is possible to easily recall the exercise.

Further, the control unit 5 limits the determination of whether or not the brain wave has made a predetermined change in an attempt to transmit the exercise command to the change in the spectral intensity generated during the “determination time Y”, thereby recalling the exercise. It is possible to carry out training to transmit exercise commands more accurately at the timing when it should be done.

In addition, the control unit 5 causes the presentation unit 4 to display an image showing how the stationary target portion starts to move, regardless of whether or not the brain wave has undergone a predetermined change in an attempt to transmit an exercise command. By doing so, even when the change in the spectral intensity indicating the transmission of the movement command is weak, the trainee 1 is made to repeatedly visually recognize how the stationary target part starts to move, and the target part becomes visible. The image of movement becomes clearer, and the movement of the paralyzed part can be strongly recognized.

In addition, (2) the image (third image) used in the motion observation recall program may have the "motion starting point time D", and one moving image is a still image of the target part (first image, image 1). ) May be included and a scene including a moving image (second image, image 2) of the target portion may be included, or a plurality of images may be combined and configured as shown in images 1 and 2 of FIG. It may be an image to be created.

<Second embodiment>
A second embodiment will be described.
In the description of the present embodiment, the description of the parts similar to those of the first embodiment will be omitted, and only the parts different from the first embodiment will be described.
In addition to the electroencephalograph 20 that measures the electroencephalogram used in the first embodiment, the measuring unit 2 in the present embodiment has the strength of the pressure (hereinafter referred to as masticatory pressure) applied between the teeth when clenched. It is configured to include a mastication sensor 21 for measuring an intensity signal indicating.

The mastication sensor 21 is a sensor that measures the masticatory pressure in the oral cavity of the human body. The mastication sensor 21 includes a pressure sensor. The masticatory sensor 21 is attached so as to be sandwiched between the upper and lower teeth in the oral cavity of the human body, and measures the masticatory pressure when chewed.
The mastication sensor 21 notifies the control unit 5 of the measured mastication pressure.

<(3) Processing of mastication program>
Further, the flow of the mastication program will be described with reference to the flowchart of FIG.
This program is carried out in the above-mentioned (1) exercise recall program and (2) exercise observation recall program when there is almost no change in the brain wave indicating the transmission of the exercise command.
In this flowchart, the description of (1) the same as the motion recall program or (2) the motion observation recall program is omitted, and only the differences are described.
Here, in carrying out the training program, the trainee 1 wears the mastication sensor 21 sandwiched between his / her own teeth.
The control unit 5 acquires the masticatory pressure of the trainee 1 from the masticatory sensor 21 via the measuring unit 2. Further, the control unit 5 measures the maximum value of the masticatory pressure of the trainee 1 in advance, and for example, a value of about 70% of the maximum masticatory pressure value is set as the “masticatory determination threshold value 1” and is stored in the storage unit 5. It is assumed that it is stored in 6. Further, it is assumed that the control unit 5 stores a value of about 50% of the maximum mastication pressure value in the storage unit 6 as the “mastication determination threshold value 2”.

Next, the operation of the rehabilitation device in this embodiment will be described.
The control unit 5 causes the trainee 1 to visually recognize the image including the stationary target portion displayed on the presentation unit 4, and urges the trainee to bite the mastication sensor 21 while trying to move his / her hand (step S33). ..
The control unit 5 acquires the masticatory pressure measured by the masticatory sensor 21 worn by the trainee 1 (step S34). Then, when the control unit 5 detects the mastication pressure (step S34 YES), the control unit 5 compares the detected mastication pressure with the mastication determination threshold value 1 stored in the storage unit 6 (step S35).
When the acquired mastication pressure is equal to or higher than the mastication determination threshold value 1, the control unit 5 causes the drive unit 3 to perform an assist operation (step S35). In this case, the movement in which the control unit 5 causes the drive unit 3 to perform the assist operation is, for example, a movement such as holding a hand.

The control unit 5 may display a moving image on the presentation unit 4 in synchronization with the drive of the drive unit 3. In this case, the still image, which is an element constituting the moving image, and the driving posture of the driving unit 3 are associated and stored. For example, if the moving image is composed of continuously displaying 36 still images per second and is a moving image for 5 seconds, 36 × 5 (= 180) still images constituting the moving image are still displayed. Add an image number to the image. Then, by assigning a posture number to the drive posture of the drive unit 3 corresponding to this number, the still image constituting the moving image and the drive posture when the drive unit 3 is made to perform the assist operation are associated with each other.
Then, the control unit 5 acquires the driving posture driven by the driving unit 3, designates a still image constituting the moving image corresponding to the driving number, and transmits the moving image starting from the still image to the presenting unit 4. Display it.
Further, the control unit 5 may drive the drive unit 3 in synchronization with the display of the moving image of the presentation unit 4. In this case, the control unit 5 acquires the image number of the moving image displayed on the presentation unit 4, specifies the drive posture corresponding to the image number, and causes the drive unit 3 to perform an operation starting from the drive posture. ..

Further, when the drive unit 3 is driven, the control unit 5 urges the trainee 1 to weaken the biting force of the mastication sensor 21 by voice guidance or the like by the voice output unit having an arbitrary configuration described above. Then, the control unit 5 acquires the mastication pressure measured by the mastication sensor 21 worn by the trainee 1 and compares the detected mastication pressure with the mastication determination threshold value 2 stored in the storage unit 6. (Step S36).
When the acquired mastication pressure is equal to or less than the mastication determination threshold value 2, the control unit 5 drives the drive unit 3 to release the movement driven by the drive unit 3 described above (step S37). The movement of releasing the movement driven by the drive unit 3 is, for example, a movement of opening the hand as opposed to holding the hand.

The control unit 5 repeats the processes of steps S34 to S37 a predetermined number of times, and causes the trainee 1 to perform the masticatory movement and the hand movement accompanying the movement (step S38).
The control unit 5 executes (3) the mastication program a predetermined number of times, and then writes the result in the storage unit 6 and stores it (step S39).
The control unit 5 stores (3) information on the training status such as the mastication pressure and the number of times the mastication program is executed in the training status of the training information area 60.
After repeating the (3) mastication program a predetermined number of times, the (1) exercise recall program or (2) exercise observation recall program is implemented. By doing so, it is confirmed whether or not (3) the effect of implementing the mastication program is present. The positions of the oral cavity and fingers in the motor field of the human brain are close to each other, and even if (3) the masticatory program is implemented and the motor commands to the fingers are transmitted, (3) ) This is because the change in the brain wave when the masticatory movement is recalled and the change in the brain wave due to the transmission of the movement command of the fingers are mixed and cannot be distinguished only by implementing the masticatory program.

As described above, in the (3) mastication program, the control unit 5 drives the drive unit 3 based on the mastication pressure detected from the mastication sensor 21 and gives the trainee 1 feedback of the kinesthetic sensation of the fingers.
As described above, the positions of the oral cavity and the fingers in the motor area of the human brain are close to each other. In addition, in so-called healthy subjects, activation of the position responsible for the masticatory movement command of the motor cortex increases the movement-induced potential of the fingers (Occupational Therapy Journal 48 (12), 1263-1268, 2014-11). In addition, it is empirically recognized that clenching teeth strengthens the ability to exert more than in normal times.
By attempting to transmit the movement commands of the fingers triggered by the movement of mastication, the movement pathways that transmit the movement commands between the nerve cells that replace the damaged nerve cells in the brain and the muscles of the fingers are reconstructed. Can be expected.

Of the embodiments described above, in the first embodiment, the control unit 5 causes the trainee 1 to present a uniform image (for example, an image of a ball and a hand), but the present invention is not limited to this. .. The control unit 5 may make the trainee 1 make a presentation that makes the trainee feel more realistic, and may make the trainee 1 make a presentation in consideration of the tendency of the trainee 1 such as a hobby.
For example, the control unit 5 may create an image based on the paralyzed part of the trainee 1 and its attributes. The control unit 5 stores attribute information such as the size and shape of the hand of the trainee 1 in the storage unit 6. Then, the control unit 5 may perform image processing on the image of the hand based on these attribute information, and create an image closer to the size and shape of the hand of one trainee.
Further, for example, the control unit 5 may create an image based on the preference of the trainee 1. The control unit 5 stores a familiar image of the trainee 1 (for example, a photograph of a grandchild in the case of an elderly person) in the storage unit 6. Then, the control unit 5 may select these images as the image material of the object that elicits the intention to move the paralyzed part, combine it with the image material of the target part, and display it.

Further, in the first embodiment, the control unit 5 uses the electroencephalogram determination threshold value Th to determine whether or not the electroencephalogram has undergone a predetermined change in an attempt to transmit an exercise command. Not limited.
The control unit 5 determines, for example, where the region where the change in the brain wave has occurred, and whether the region where the change in the brain wave has occurred is wider or narrower than when a healthy person transmits an exercise command. It may be an item.
When the transmission of motor commands by healthy subjects is normal, changes are confirmed locally in specific areas of the motor cortex of the brain. On the other hand, when the transmission of the motor command is still weak, the change in the brain wave is confirmed to be a very small change in a wide area of the motor area of the brain as compared with the case of the transmission of the motor command by a healthy person. So to speak, a wide, shallow and vague change is confirmed. At this stage, it is known that changes in the brain are gradually confirmed in a specific area by repeatedly performing exercise by determining that the brain waves have made a predetermined change in an attempt to transmit an exercise command. Has been done.
In this case, the electroencephalograph 20 uses a plurality of electrodes to attach the electrodes to a plurality of locations on the head of the trainee 1. Then, the control unit 5 acquires brain waves from a plurality of different regions of the brain.

The processing performed by the control unit 5 in the above-described embodiment may be realized by a computer. In that case, the processing program for realizing this function may be recorded on a computer-readable recording medium, and the processing program recorded on the recording medium may be read by the computer system and executed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. Furthermore, a "computer-readable recording medium" is a processing program that is dynamically used for a short period of time, such as a communication line when a processing program is transmitted via a network such as the Internet or a communication line such as a telephone line. It may also include those that hold the processing program for a certain period of time, such as the volatile memory inside the computer system that serves as the server or client in that case. Further, the processing program may be for realizing a part of the above-mentioned functions, and even if the above-mentioned functions can be realized in combination with a processing program already recorded in the computer system. Often, it may be realized by using a programmable logic device such as FPGA (Field Programmable Gate Array).

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and the design and the like within a range not deviating from the gist of the present invention are also included.

1 ... trainee, 2 ... measurement unit, 3 ... drive unit, 4 ... presentation unit, 5 ... control unit, 6 ... storage unit, 8 ... operation interface unit, 10 ... bus,
20 ... electroencephalograph, 21 ... mastication sensor, 60 ... training information area, 64 ... display information area,
80 ... Input unit, 81 ... Output unit.

Claims (11)

It is a rehabilitation device for recovering activities of daily living of patients with paralyzed motor functions of a part of the body.
A presentation unit that presents to the patient's vision and
A drive unit that assists the movement of the paralyzed part, which is a part of the paralyzed body of the patient, by using an external force, and a drive unit that assists the movement.
A control unit that causes the drive unit to perform the assist operation based on the patient's brain waves.
With
The presenting part is a target part which is the same part as the paralyzed part, and presents an image including the target part at least in a stationary state.
The control unit determines whether or not to cause the drive unit to perform the assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient, and corresponds to the spectral intensity. In the past rehabilitation of the patient, the driving unit is made to perform the assist operation when the spectral intensity changes based on the determination threshold value and the spectral intensity after the change is equal to or less than the determination threshold value. Training status information, which is information on whether or not the driving unit is made to perform the assist operation with respect to the set determination threshold value and the determination threshold value, is recorded in the storage unit, and this time based on the training status information. To determine the judgment threshold set in the training of
Rehabilitation device. The presenting unit presents an image further including an image of an object different from the target portion.
The rehabilitation apparatus according to claim 1. The control unit
The presenting unit is made to present a moving image showing how the target portion performs the same operation as the assist operation.
Synchronize the operation performed by the target portion shown in the moving image with the assist operation.
The rehabilitation apparatus according to claim 1 or 2. The presenting unit further presents to the auditory sense.
The rehabilitation apparatus according to any one of claims 1 to 3. The control unit further causes the drive unit to perform the assist operation based on an intensity signal indicating the strength of the masticatory pressure, which is a force applied between the teeth when the patient bites.
The rehabilitation apparatus according to any one of claims 1 to 4 . The control unit
Based on the first mastication determination threshold value smaller than the maximum value of the mastication pressure of the patient and the second mastication determination threshold value smaller than the first mastication determination threshold value, the patient said. The assist operation is performed when the value of the intensity signal is equal to or higher than the first mastication determination threshold value, and the assist operation is performed when the intensity of the patient is less than the second mastication determination threshold value. Make the operation to undo
The rehabilitation apparatus according to claim 5 . The control unit causes the patient to execute from among a plurality of training programs that are the contents of rehabilitation based on the amount of change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient. To select,
The rehabilitation apparatus according to any one of claims 1 to 6 . The training program is composed of two or more training programs of an exercise recall program, an exercise observation recall program, and a mastication program.
The exercise recall program is
A first image including an image showing a state in which the target part is stationary, which is the same part as the paralyzed part which is a part of the paralyzed body of the patient, is presented to the patient.
An assist operation for operating the paralyzed part by an external force is performed based on a change in the brain wave of the patient who visually recognizes the first image.
Based on the assisting motion, a second image including a moving image showing how the target site performs an motion similar to the motion of the paralyzed portion is presented to the patient.
It is a training program that synchronizes the assist operation with the operation performed by the target part shown in the second image.
The exercise observation recall program is
With respect to the third image, which is a moving image showing how the target part operates after the operation start time, which is a predetermined time, has elapsed after the display of the image showing the state in which the target part is stationary.
The third image is presented to the patient who has visually recognized the third image in advance.
An assist operation for operating the paralyzed portion by an external force is performed based on the change in the brain wave of the patient who visually recognizes the third image and the relationship between the time when the change occurs and the operation start time.
It is a training program that synchronizes the assist operation with the operation performed by the target portion shown in the third image when the assist operation is performed.
The chewing program is
An image including the target site is presented to the patient, and the assist operation is performed based on the masticatory pressure, which is a force applied between the teeth when the patient who visually recognizes the first image or the moving image bites. It is a training program that synchronizes the assisting motion with the motion performed by the target site shown in the moving image presented to the patient.
The rehabilitation apparatus according to claim 7 . It is a control method of a rehabilitation device for recovering activities of daily living of a patient whose motor function of a part of the body is paralyzed.
The presentation process of presenting to the patient's vision and
A drive process in which the drive unit assists the movement of the paralyzed part, which is a part of the paralyzed body of the patient, by using an external force.
A control step of causing the drive unit to perform the assist operation based on the patient's brain wave,
With
In the presentation step, an image including the target site, which is the same site as the paralyzed portion and is at least stationary, is presented.
The control step determines whether or not the driving unit is to perform the assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient, and corresponds to the spectral intensity. In the past rehabilitation of the patient, the driving unit is made to perform the assist operation when the spectral intensity changes based on the determination threshold value and the spectral intensity after the change is equal to or less than the determination threshold value. Training status information, which is information on whether or not the driving unit is made to perform the assist operation with respect to the set determination threshold value and the determination threshold value, is recorded in the storage unit, and this time based on the training status information. To determine the judgment threshold set in the training of
Control method. It is a rehabilitation device for recovering activities of daily living of patients with paralyzed motor functions of a part of the body.
A presentation unit that presents to the patient's vision and
A drive unit that assists the movement of the paralyzed part, which is a part of the paralyzed body of the patient, by using an external force, and a drive unit that assists the movement.
A control unit that causes the drive unit to perform the assist operation based on the patient's brain waves.
With
The presenting portion is a target site that is the same site as the paralyzed portion, and presents an image including at least the target site in a stationary state , and the stationary target site operates at a predetermined time. Presenting a moving image showing how it starts moving at the starting time,
The control unit determines whether or not to cause the drive unit to perform the assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient, and corresponds to the spectral intensity. When the spectral intensity changes based on the determination threshold value and the spectral intensity after the change is equal to or less than the determination threshold value, and the change is within a predetermined time before the operation start time. When this occurs, the drive unit is made to perform the assist operation.
Rehabilitation device. It is a control method of a rehabilitation device for recovering activities of daily living of a patient whose motor function of a part of the body is paralyzed.
The presentation process of presenting to the patient's vision and
A drive process in which the drive unit assists the movement of the paralyzed part, which is a part of the paralyzed body of the patient, by using an external force.
A control step of causing the drive unit to perform the assist operation based on the patient's brain wave,
With
The presentation step is an operation in which an image including the target site in a stationary state is presented at a target site which is the same site as the paralyzed portion, and the target site in the stationary state is at a predetermined time. Presenting a moving image showing how it starts moving at the starting time,
The control step determines whether or not the driving unit is to perform the assist operation based on a change in the spectral intensity of a predetermined frequency band included in the signal constituting the brain wave of the patient, and corresponds to the spectral intensity. When the spectral intensity changes based on the determination threshold value and the spectral intensity after the change is equal to or less than the determination threshold value, and the change is within a predetermined time before the operation start time. When this occurs, the drive unit is made to perform the assist operation.
Control method.

Images