JP6860859B2 - Motor function recovery training device - Google Patents

Description

The disclosed embodiment relates to a motor function recovery training device.

Patent Document 1 describes a motor function recovery training device for the forearm as a training target. In this motor function recovery training device, a fixing member that fixes the patient's forearm and a grip that is gripped by hand are integrated, and a passive rotational motion by a motor and an automatic rotational motion by the patient's will around the center of the forearm axis. By alternately repeating the above steps, the motor function of the forearm is restored.

JP-A-2015-245

In the above-mentioned prior art motor function recovery training device, the gripping center point of the grip portion is located on the central axis of the forearm (on the rotation axis of the fixing member and the grip portion), but the hand is normally with respect to the forearm. The convenience was low because it was difficult to use the paralyzed patient in a bent state.

The present invention has been made in view of such problems, and an object of the present invention is to provide a motor function recovery training device with improved convenience in training.

In order to solve the above problem, according to one viewpoint of the present invention, it is a motor function recovery training device that performs training for recovering the motor function of the forearm of the human body part to be trained, and is rotatably supported. , At least one of the fixing member for fixing the forearm, the grip portion gripped by hand, and the fixing member and the grip portion in the forward rotation direction and the reverse rotation direction around the first rotation axis substantially coincide with the axis center of the forearm. It has a motor that rotates in one direction, and the grip portion is supported so as to be fixed to the fixing member at an arbitrary rotation angle around a second rotation axis that substantially coincides with the flexion axis of the wrist joint. The motor function recovery training device is applied.

According to the present invention, convenience in training can be improved.

It is explanatory drawing which shows an example of the whole structure of the motor function recovery training apparatus which concerns on this embodiment. It is explanatory drawing which extracts an example of the structure of the rotating part and shows by the perspective. It is a figure of an example which showed the rotating part in disassembled perspective. It is explanatory drawing which shows an example of the state which fixed the forearm part to a fixing member and rotates a rotating part. It is explanatory drawing of an example which shows the bending state of the hand of a paralyzed patient or the like. It is explanatory drawing which shows an example of the state which the rotating part is rotated when the grip is rotated according to the bending angle of a hand. It is explanatory drawing which shows an example of the functional structure of a controller. An axial cross section of an example of a fixing member with an airbag is shown. It is explanatory drawing which shows an example of the hardware configuration of a controller.

Hereinafter, one embodiment will be described with reference to the drawings.

<1. Configuration of motor function recovery training device>
First, an example of the configuration of the motor function recovery training device according to the present embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is an explanatory diagram showing an example of the overall configuration of the motor function recovery training device according to the present embodiment, FIG. 2 is an explanatory diagram showing an example of the configuration of the rotating portion extracted, and FIG. It is explanatory drawing which shows by disassembling. In the following, for convenience of explaining the configuration of the motor function recovery training device, the directions of up, down, left, right, front and back shown in FIG. 1 may be appropriately used, but these directions are the positional relationship of each configuration of the motor function recovery training device. Does not limit. In the present embodiment, the front-rear direction refers to the direction of the rotation axis of the rotating portion described later, the up-down direction refers to the vertical direction, and the left-right direction refers to the direction perpendicular to both the front-back direction and the up-down direction. In particular, in the following description of the configuration of each part, it is assumed that the rotation position of the rotating part with the grip facing vertically upward, which will be described later, is set to a reference angle (0 °) and points in each direction.

The motor function recovery training device 1 is a device that performs training (rehabilitation) for recovering the motor function of a human body part to be trained. The training subjects are patients with motor dysfunction due to cerebrovascular diseases such as stroke and orthopedic diseases, for example. In the present embodiment, a case where the human body part to be trained is the forearm part will be described.

As shown in FIG. 1, the motor function recovery training device 1 has an elevating table 2, a device main body 3, and a rotating portion 4.

The elevating table 2 includes a table 5 on which the apparatus main body 3 is placed, a support column 6 that can be expanded and contracted in the vertical direction by an expansion / contraction mechanism (not shown), and a plurality of (five in this example) legs provided below the support column. It has 7a to 7e. From the center position where the legs 7a to 7e are connected, the legs 7a extend to the left, the legs 7b to the front, the legs 7c to the right, the legs 7d to the right rear, and the legs 7e to the left rear. It is installed. By setting the number of legs 7a to 7e to 5, the stability is improved as compared with the case where, for example, the number of legs is 4 (cross shape at 90 ° intervals). In addition, by setting the distance between the legs 7a and 7b to 90 °, a space for the trainee to train the forearm of the right arm to approach is secured on the front left side, and the chair, wheelchair, foot, etc. of the trainee are secured. Interference with the legs can be suppressed. Similarly, by setting the distance between the legs 7b and 7c to 90 °, a space for the trainee to train the forearm of the left arm to approach is secured on the front right side, and the chair, wheelchair, foot, etc. of the trainee are secured. And the interference of the legs can be suppressed. Casters 8 are provided at the lower portions of the legs 7a to 7b.

A touch panel 9 for displaying training and performing various operations is provided on the front surface of the apparatus main body 3. Further, on the front surface of the apparatus main body 3, button switches 25 (an example of switches) for performing a training operation execution / stop switching operation are provided at two locations on the left and right sides of the touch panel 9. Further, inside the apparatus main body 3, a motor 10 that rotates the rotating portion 4 in the forward rotation direction and the reverse rotation direction (see FIG. 7 described later) and an encoder 11 that detects the rotation position of the motor 10 (FIG. 7 described later). (See) and a controller 12 (see FIGS. 7 and 8 described later) that controls the motor 10 based on the detection result of the encoder 11. The motor 10 is a servomotor whose position, speed, and torque are controlled based on the detection result of the encoder 11. The controller 12 is configured as a computer including a CPU, a memory, and the like (see FIG. 8 described later). Further, a rotation position sensor other than the encoder 11 such as a resolver or a potentiometer may be used. Further, a torque sensor for detecting the torque of the motor 10 may be provided.

The rotating portion 4 is rotatably provided on the front side of the device main body 3 and projects forward from the device main body 3 to support the forearm portion 17 (see FIGS. 4 and 6 described later) of the trainee. To do. In the following, the forearm portion 17 is a human body portion between the elbow portion and the wrist joint portion 18 to be trained. As shown in FIG. 2, the rotating portion 4 mainly has a disk member 13, a support bar 14, a fixing member 15, a rotating arm 26, and a grip 16. The disk member 13 is provided on the front surface of the apparatus main body 3 and is rotated around the rotation axis AX (an example of the first rotation axis) by the motor 10. The support bar 14 is located at a position offset downward by a predetermined distance from the rotation axis AX, and is provided so as to project forward from the disk member 13 substantially parallel to the rotation axis AX. The fixing member 15 is provided near the tip of the support bar 14 and detachably fixes the forearm portion 17 of the trainee. The fixing member 15 fixes the forearm portion 17 in an arrangement relationship in which the axis center C of the forearm portion 17 (longitudinal axis of the forearm portion 17) is substantially aligned (substantially parallel, close to) the rotation axis AX of the rotating portion 4. To do. As a result, the rotation of the rotating portion 4 causes the forearm portion 17 to rotate around its axis center C (see FIGS. 4 and 6 described later).

The grip 16 (an example of the grip portion) has a cylindrical shape as a whole in the illustrated example, and is formed in a size that can be gripped by the trainee with the hand 30 (the portion from the wrist joint portion 18 to the tip). As shown in FIG. 3, the grip 16 is connected to the support bar 14 via a rotating arm 26, a connecting bolt 27, and a cap 28. The rotation arm 26 has an arm body 26a extending in the horizontal direction via a rotation hinge 26b that can rotate around a rotation axis S (an example of a second rotation axis) orthogonal to the rotation axis AX. Is connected to the support bar 14. Serration teeth 26c (circular gear teeth) are formed on the shaft of the rotation hinge 26b, and can be fixed at an arbitrary rotation angle position when connected to the support bar 14. An elongated hole 26d is formed in the arm body 26a of the rotating arm 26 along the extending direction thereof, and fine uneven latch teeth 26e (straight gear teeth) are formed on both side long edges of the elongated hole 26d. ) Is formed. The shank shaft 27a of the connecting bolt 27 is formed in a cylindrical shape having a diameter that allows the shank shaft 27a to penetrate the elongated hole 26d, and has a shape that can be stored inside the rotating arm 26 at the lower end thereof and the elongated hole 26d. A head 27b having a size that cannot pass through the head 27b is integrally formed. Further, the connecting bolt 27 is formed to have a length dimension that allows the upper end to appropriately protrude through the grip 16, and a thread 27c (male screw) for screwing the cap 28 is cut at the upper end thereof.

When connecting the grip 16, the grip 16 is inserted through the upper end of the connecting bolt 27 that penetrates the elongated hole 26d while accommodating the head 27b inside the rotating arm 26. Then, the grip 16 can be connected to and fixed to the rotating arm 26 by screwing the cap 28 into the thread 27c of the connecting bolt 27 protruding upward from the upper end of the grip 16. At this time, the grip 16 can be arranged at an arbitrary position within the extending direction range of the elongated hole 26d of the rotating arm 26, and the lower end of the grip 16 is formed by the elongated hole 26d by fastening between the connecting bolt 27 and the cap 28. The position can be fixed by engaging with the latch tooth 26e. That is, the separation distance of the grip 16 with respect to the rotation shaft S of the rotation arm 26 can be adjusted. Further, the grip 16 can be attached and detached and replaced by removing the cap 8 from the connecting bolt 27.

The rotating arm 26, the grip 16, the connecting bolt 27, and the cap 28 constitute the distance adjusting mechanism according to each claim, and the connecting bolt 27 and the cap 28 form the attachment / detachment mechanism according to each claim. Configure.

Further, as shown in FIG. 2, the fixing member 15 includes a base portion 19 on which the forearm portion 17 is placed, a pair of opening / closing portions 20 capable of fixing and releasing the wrist joint portion 18 by opening and closing, and a pair of opening / closing portions. A pair of cushion portions 21 provided inside each of the portions 20, a connecting portion 22 for releasably connecting the upper ends of each of the pair of opening / closing portions 20, and a pair provided on the inner peripheral surface of each cushion portion 21. It has an electrode 23 of.

The cushion portion 21 is made of a flexible material such as urethane, and contacts and presses against the forearm portion 17. The base portion 19 may be made of the same flexible material as the cushion portion 21. The connecting portion 22 is composed of, for example, a hook-and-loop fastener, and can be joined by adjusting the gap at the upper ends of the pair of opening / closing portions 20 to a desired size. As a result, the fixing member 15 can be fixed regardless of the thickness of the forearm portion 17 of the trainee.

The electrode 23 is a metal terminal provided at a position where it comes into contact with the surface of the forearm portion 17 fixed to the fixing member 15, and the heartbeat of the forearm portion 17 is detected by detecting the energized state of the electric current through the electrode 23. Can be detected. The detection signal of the electrode 23 is output to the heart rate measuring unit 41 of the controller 12, which will be described later.

<2. Use of motor function recovery training device>
When performing recovery training using the motor function recovery training device 1 having the above configuration, as shown in FIG. 4, the wrist joint portion 18 is flexed while the trainee holds the grip 16 with his / her hand 30. The forearm portion 17 is a fixing member so that the axis B (the axis of rotation when bending in the direction of penetrating the palm and the back of the hand) is arranged so as to be substantially aligned (approximately parallel, close to) the axis S of the rotation arm 26. It is fixed at 15. If the deviation between the flexion axis B of the wrist joint 18 and the rotation axis S of the rotation arm 26 is large due to individual physical differences of the trainee, the separation distance of the grip 16 is adjusted.

Then, during training, the rotating portion 4 repeatedly rotates in the clockwise direction and the counterclockwise direction with the position where the tip of the grip 16 faces vertically upward as a reference angle (0 °). For example, as shown in FIG. 4, when training the forearm portion 17 of the right arm of the trainee, the rotating portion 4 rotates in the clockwise direction to cause the forearm portion 17 to supination and counterclockwise. By rotating in the direction, the forearm portion 17 is rotated inward. Although not shown, on the contrary, when training the forearm portion 17 of the left arm, the rotating portion 4 rotates in the clockwise direction to cause the forearm portion 17 to inwardly move and rotate in the counterclockwise direction. By moving, the forearm portion 17 is supination-moved.

At this time, the inward movement and the supination movement can be individually selected from either automatic movement or passive movement. Here, the "automatic movement" means to rotate the rotating portion 4 in response to a voluntary supination movement or inward movement by the trainee. Further, the "passive movement" means that the rotating portion 4 is rotated by the motor 10 to cause the forearm portion 17 of the trainee to perform a supination movement or an inward movement by an external force. In other words, as training types, "inward movement" to train inward movement in automatic exercise, "supination" to train supination movement in automatic exercise, and "outward movement" to train both inward movement and supination movement in automatic exercise. It can be set to either "inside or outside".

Here, in the present embodiment, as a general configuration of the human body, the flexion axis B of the wrist joint portion 18 is substantially orthogonal to the axis center C of the forearm portion 17 (that is, the flexion center point P1 of the wrist joint portion 18 is the forearm portion 17). (Located on the axis center C of). As described above, the fixing member 15 fixes the forearm portion 17 in an arrangement relationship in which the axis center C of the forearm portion 17 substantially coincides with the rotation axis AX of the rotating portion 4. On top of that, when the gripping center point P2 of the hand 30 that grips the grip 16 is located on a substantially extension line of the axial center C of the forearm portion 17, as shown in FIG. , The flexion center point P1 of the wrist joint portion 18 and the fixation center point P3 of the forearm portion 17 by the fixing member 15 all overlap on the rotation axis AX of the rotation portion 4 in a substantially straight line. Due to this arrangement, when the rotating portion 4 rotates around the rotation axis AX, the forearm portion 17, the wrist joint portion 18, and the hand 30 of the trainee are all the axes of the forearm portion 17. It can rotate smoothly around the center C.

However, in the case of a paralyzed patient or the like, as shown in FIG. 5, the hand 30 is bent at a predetermined bending angle R with respect to the axial center C of the forearm 17 even in a normal state (solid line in the figure). (See section). When such a paralyzed patient is a trainee, it becomes difficult to rotate the forearm portion 17 around the axial center C with the arrangement of the gripping center point P2 of the hand 30 as shown in FIG.

Therefore, in the present embodiment, as shown in FIG. 6, the rotation angle of the rotation arm 26 is adjusted and fixed in advance according to the bending angle R of the hand 30 of the paralyzed patient. As a result, the grip 16 is naturally gripped at the gripping center point P2'at the position adjusted to the bending angle R of the hand 30, and the bending center point P1 of the wrist joint portion 18 and the fixing center of the forearm portion 17 by the fixing member 15 are used. It is possible to maintain an arrangement relationship in which the point P3 and the axis center C of the forearm portion 17 overlap on the rotation axis AX of the rotation portion 4. As a result, a smooth rotation operation around the axis center C of the forearm portion 17 becomes possible.

<3. Controller function configuration>
Next, an example of the functional configuration of the controller 12 will be described with reference to FIG. 7. FIG. 7 is an explanatory diagram showing an example of the functional configuration of the controller 12.

As shown in FIG. 7, the controller 12 includes a heart rate measuring unit 41, an exercise control unit 42, and a display input control unit 43.

The heart rate measuring unit 41 measures the heart rate of the trainee based on the detection signals from the two electrodes 23 (first electrode and second electrode in the figure) provided on the fixing member 15, and displays the measurement result. It functions to output to the input control unit 43 and the motion control unit 42.

The motion control unit 42 functions to control switching between passive motion and automatic motion in each of the inward and outward movements of the rotating unit 4 according to a separately set training type. Specifically, the drive of the motor 10 is controlled at a predetermined timing and rotation angle corresponding to the training type while referring to the detection signal from the encoder 11. The control by the motion control unit 42 may be speed control based on a speed command, or position control in which position commands are sequentially changed so that the speed becomes a set speed. Further, the motion control unit 42 outputs various information such as the control state to the display input control unit 43.

Further, two button switches 25 (left button switch and right button switch in the figure) are connected in parallel to the motion control unit 42, and when any one of them is operated, the motor 10 is operated. Stop the operation of. That is, both of the two button switches 25 have the same function of stopping the training operation. Then, as shown in FIG. 1, the two button switches 25 are arranged on the left and right on the front surface of the apparatus main body 3, so that the trainee can attach one of the left and right forearms 17 to the fixing member 15. Even in the fixed state, the button switch 25 on either side can be easily operated with the other free hand. The button switch 25 may be configured to be pressed as an example, and the motion control unit 42 may be controlled to alternately switch between the operation and the stop of the motor 10 each time the button switch 25 is pressed. As a result, the trainee can switch between executing and stopping the training operation at an arbitrary pace.

Further, the exercise control unit 42 controls the rotation of the rotation unit 4 according to the physical condition of the trainee based on the measurement result of the heart rate measurement unit 41. For example, when the heart rate measured by the heart rate measuring unit 41 exceeds a predetermined value, the rotational movement (passive movement) of the rotating unit 4 is stopped to suppress the unreasonable training of the trainee. Can be done.

The display input control unit 43 functions to display the measurement result output by the heart rate measurement unit 41 and various information output by the exercise control unit 42 on the touch panel 9, and the user (training target person, caregiver) touches the touch panel. It functions to output various operation information input via 9 to the heart rate measuring unit 41 and the exercise control unit 42.

<4. Effect of this embodiment>
As described above, in the motor function recovery training device 1 of the present embodiment, the grip 16 rotates arbitrarily around the rotation axis S in which the grip 16 substantially coincides with the flexion axis B of the wrist joint portion 18 with respect to the fixing member 15. It is supported so that it can be fixed at an angle. As a result, even when a paralyzed patient or the like whose hand 30 is normally bent with respect to the forearm 17 uses it as a trainer, the grip 16 gripped by the hand 30 is adjusted to the bending angle R. It can be fixed at the position rotated from the rotation axis AX. As a result, even a trainee such as the paralyzed patient can rotate the forearm portion 17 without difficulty by wearing it naturally, and the convenience in the training of the motor function recovery training device 1 is improved.

Further, in the present embodiment, in particular, it has a distance adjusting mechanism capable of adjusting the separation distance of the grip 16 with respect to the rotating shaft S. As a result, the rotational axis S, the fixed center point P3 of the forearm 17 on the fixing member 15, and the gripping center points P2 and P2'of the grip 16 are arranged according to the dimensions of the trainee's body. Since it can be adjusted appropriately, it can be worn more naturally.

Further, in this embodiment, in particular, the grip 16 has a detachable mechanism that allows the grip 16 to be detached and exchanged. As a result, the trainee's hand 30 can be replaced with a grip (not shown in particular) having a shape and size suitable for the size, bending state, or gripping ability of the trainee's hand, and the forearm can be rotated more naturally and comfortably. Is possible.

Further, in the present embodiment, in particular, a heart rate measuring unit 41 that measures the heart rate based on a detection signal from an electrode 23 provided on the fixing member 15 so as to come into contact with the surface of the forearm portion 17 is further provided. As a result, it is possible to measure the heart rate of the trainee using the electrode 23 at the same time as the recovery training of the motor function of the forearm portion 17.

Further, in the present embodiment, in particular, a button switch 25 for stopping the operation of the motor 10 is further provided. As a result, the trainee can arbitrarily stop the recovery training operation and take a break even when the caregiver is not present.

Further, in the present embodiment, in particular, the button switch 25 is provided at two positions that can be operated by the trainee target person with the other hand 30 in a state where one of the left and right forearm portions 17 is fixed to the fixing member 15. Has been done. As a result, even if the fixing member 15 can be fixed to any of the left and right forearm portions 17 of the trainee in common, the buttons are placed at two positions that are easy to operate with the unfixed hand 30. The switch 25 can be arranged, and the convenience is further improved.

<5. Modification example>
The embodiment has been described in detail with reference to the accompanying drawings. However, the scope of the technical idea described in the claims is not limited to the embodiments described here. It is clear that a person having ordinary knowledge in the field of technology to which this embodiment belongs can come up with various changes, modifications, combinations, etc. within the scope of the technical idea. Therefore, the technology after these changes, corrections, combinations, etc. are naturally within the scope of the technical idea.

For example, as shown in FIG. 8 in which the fixing member 15 in which the forearm portion 17 is fixed is shown in an axial cross section, an annular airbag 24 may be provided on the inner peripheral side of the fixing member 15. In FIG. 8, the airbag 24 is, for example, an annular bag formed by sewing a cloth body, and the forearm portion 17 of the trainee can be inserted into the inner diameter thereof. The entire airbag 24 can be expanded by supplying air pressure to the inside of the airbag 24 from a separate air pump (not shown), and the outer circumference of the forearm portion 17 inserted through the inner diameter thereof is pressed and fixed. be able to. As a result, the forearm portion 17 can be securely fixed while being in close contact with the outer circumference with an even and flexible pressure, so that the burden of wearing on the trainee can be reduced.

Further, the controller 12 may include a blood pressure measuring unit 44 that measures the blood pressure of the trainee based on the time course of the internal air pressure of the airbag 24. As a result, it is possible to measure the blood pressure of the trainee subject using the airbag 24 at the same time as the recovery training of the motor function of the forearm portion 17.

<6. Controller hardware configuration example>
Next, with reference to FIG. 9, processing by the heart rate measurement unit 41, the exercise control unit 42, the display input control unit 43, the blood pressure measurement unit 44, etc. implemented by the program executed by the CPU 901 described above is realized. A hardware configuration example of the controller 12 will be described. In FIG. 9, the configuration related to the function of supplying drive power to the motor 10 of the controller 12 is appropriately omitted.

As shown in FIG. 9, the controller 12 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or an FPGA, an input device 913, an output device 915, and the like. It has a recording device 917, a drive 919, a connection port 921, and a communication device 923. These configurations are connected so that signals can be transmitted to each other via the bus 909 and the input / output interface 911.

The program can be recorded in, for example, a ROM 903, a RAM 905, a recording device 917, or the like.

Further, the program can be temporarily or permanently recorded on, for example, a magnetic disk such as a flexible disk, an optical disk such as various CDs, MO disks, or DVDs, or a removable recording medium 925 such as a semiconductor memory. .. Such a recording medium 925 can also be provided as so-called package software. In this case, the program recorded on these recording media 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, or the like.

The program can also be recorded on, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as LAN or the Internet, and the communication device 923 receives this program. Then, the program received by the communication device 923 may be recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

Further, the program can be recorded in an appropriate externally connected device 927, for example. In this case, the program may be transferred via the appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

Then, the CPU 901 executes various processes according to the program recorded in the recording device 917, so that the processes by the heart rate measuring unit 41, the exercise control unit 42, the display input control unit 43, the blood pressure measuring unit 44, and the like are performed. Is realized. At this time, for example, the CPU 901 may directly read the program from the recording device 917 and execute it, or may execute it after loading it into the RAM 905 once. Further, for example, when the CPU 901 receives the program via the communication device 923, the drive 919, or the connection port 921, the CPU 901 may directly execute the received program without recording it in the recording device 917.

Further, the CPU 901 may perform various processes based on signals and information input from an input device 913 such as a mouse, keyboard, microphone (not shown), if necessary.

Then, the CPU 901 may output the result of executing the above processing from an output device 915 such as a display device or an audio output device, and the CPU 901 may connect the processing result to the communication device 923 or the communication device 923 as needed. It may be transmitted via the port 921, or may be recorded on the recording device 917 or the recording medium 925.

In the above description, when there is a description such as "vertical", "parallel", "plane", etc., the description does not have a strict meaning. That is, these "vertical", "parallel", and "planar" mean "substantially vertical", "substantially parallel", and "substantially flat", with design and manufacturing tolerances and errors allowed. ..

Further, in the above description, when there is a description such as "same", "equal", "different", etc. in the external dimensions and sizes, the description is not a strict meaning. That is, those "same", "equal", and "different" mean that design and manufacturing tolerances and errors are allowed, and that they are "substantially the same", "substantially equal", and "substantially different". ..

However, if there is a description of a value that serves as a predetermined criterion or a value that serves as a delimiter, such as a threshold value or a reference value, "same", "equal", "different", etc. for them are different from the above. Different, it has a strict meaning.

1 Motor function recovery training device 4 Rotating part 9 Touch panel 10 Motor 11 Encoder 12 Controller 13 Disk member 14 Support bar 15 Fixing member 16 Grip (grip part, distance adjustment mechanism)
17 Forearm (human body part to be trained)
18 Wrist joint 23 Electrode (metal terminal)
24 Airbag (bag body)
25 button switch (switch)
26 Rotating arm (distance adjustment mechanism)
26a Arm body 26b Rotating hinge 26c Serration tooth 26d Long hole 26e Latch tooth 27 Connecting bolt (distance adjustment mechanism, attachment / detachment mechanism)
28 Cap (distance adjustment mechanism, attachment / detachment mechanism)
30 Hands 41 Heart rate measurement unit 42 Exercise control unit 43 Display input control unit 44 Blood pressure measurement unit AX Rotation axis (first rotation axis)
S rotation axis (second rotation axis)
C Axis center of forearm B Flexion axis of wrist joint P1 Flexion center point of flexion axis P2 Grip center point of hand P2'Grip center point of hand in flexion P3 Fixation center point of fixing member R Flexion angle of hand

Claims (6)

It is a motor function recovery training device that performs training to restore the motor function of the forearm of the human body part to be trained.
With the device body
A fixing member that is supported by a support bar so as to be rotatable with respect to the device body and fixes the forearm.
The grip part to be gripped by hand and
A rotating arm having a shaft on which circular gear teeth are formed and connecting the grip portion to the support bar.
A motor that rotates the fixing member and the grip portion in at least one of a forward rotation direction and a reverse rotation direction around a first rotation axis that substantially coincides with the axis center of the forearm.
A switch that stops the operation of the motor and
Have,
The grip portion
By engaging the circular gear teeth of the rotating arm with the support bar, the rotating arm is supported so as to be fixed to the fixing member at an arbitrary rotation angle around the second rotation axis that substantially coincides with the flexion axis of the wrist joint. And
The switch
In a state in which the trainee either of the forearm right is fixed to the fixing member, movements rehabilitation device characterized in that provided in the two positions that can be operated by the other hand. The motor function recovery training device according to claim 1, further comprising a distance adjusting mechanism capable of adjusting the separation distance of the grip portion with respect to the second rotating shaft. The motor function recovery training device according to claim 1 or 2, wherein the grip portion has a detachable mechanism that allows the grip portion to be attached / detached and exchanged. It is a motor function recovery training device that performs training to restore the motor function of the forearm of the human body part to be trained.
With the device body
A fixing member that is supported by a support bar so as to be rotatable with respect to the device body and fixes the forearm.
The grip part to be gripped by hand and
A rotating arm having a shaft on which circular gear teeth are formed and connecting the grip portion to the support bar.
A motor that rotates the fixing member and the grip portion in at least one of a forward rotation direction and a reverse rotation direction around a first rotation axis that substantially coincides with the axis center of the forearm.
Have,
The grip portion
By engaging the circular gear teeth of the rotating arm with the support bar, the rotating arm is supported so as to be fixed to the fixing member at an arbitrary rotation angle around the second rotation axis that substantially coincides with the flexion axis of the wrist joint. And
The fixing member further comprises that movements rehabilitation device you said that the heart rate measurement unit for measuring the heart rate based on the detection signal from the metal terminal provided so as to contact the surface of the forearm. It is a motor function recovery training device that performs training to restore the motor function of the forearm of the human body part to be trained.
With the device body
A fixing member that is supported by a support bar so as to be rotatable with respect to the device body and fixes the forearm.
The grip part to be gripped by hand and
A rotating arm having a shaft on which circular gear teeth are formed and connecting the grip portion to the support bar.
A motor that rotates the fixing member and the grip portion in at least one of a forward rotation direction and a reverse rotation direction around a first rotation axis that substantially coincides with the axis center of the forearm.
Have,
The grip portion
By engaging the circular gear teeth of the rotating arm with the support bar, the rotating arm is supported so as to be fixed to the fixing member at an arbitrary rotation angle around the second rotation axis that substantially coincides with the flexion axis of the wrist joint. And
The fixing member is
Exercise rehabilitation device characterized by having a bag body an annular fixing by pressing the outer periphery of the forearm by expanding pneumatically. The motor function recovery training device according to claim 5, further comprising a blood pressure measuring unit using the bag body.

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