JPS62292162A - Muscle force training and measuring apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention (a) Technical Field The present invention relates to a muscle training measurement device, and more specifically, it is used mainly for people who have disorders in muscles, joints, or their motor command systems. This invention relates to a device for training muscle strength and measuring and evaluating the functions of muscles and joints.

(b) Prior Art In rehabilitation medicine, various therapeutic trainings are carried out for the social reintegration of disabled persons, among which muscle strength measurement training is one of the important therapeutic programs.

In treatment programs for people with disabilities, the first step is to evaluate the affected muscles, and this evaluation has traditionally been performed using manual muscle strength tests. Manual muscle strength testing is a muscle strength testing method that focuses on the manual step-by-step examination of the main action muscles that are involved in the movement of important joints in each part of the body, and its origins date back to the first half of the 20th century.
The anti-gravity test by R.W. Lovett -a.

The outline of the manual muscle strength test will be briefly explained below.

First, place the patient in the correct examination position, otherwise
Compensatory movements by other muscles occur, making it impossible to accurately determine the strength of the muscle or muscle group being tested. Placing the limb in the examination position means
6 It means to hold the body in place, to stabilize it, to fix it, etc.

When placed in the testing position, it becomes clear whether the patient has the ability to assume the anti-gravity position, and if the patient is unable to maintain this position, a test below the anti-gravity position will be performed.

If muscle force can be exerted against gravity, resistance can be applied manually to measure (or judge) the muscle strength as one reaction force.

Based on the responses obtained in this way, muscle strength is evaluated in the following six grades.

(1) Zero: No muscle contraction occurs at all. (2) Trace: There is only a hint of muscle contraction.

(3) Poor: If gravity is removed, the limb can be moved over the entire range of motion.

(4) Fair: The limb can be lifted over the entire range of joint motion against gravity.

g- (5) Good: Even with some resistance.

Can move limbs.

(6) Normal (normaI): The limb can be moved even if more resistance is applied.

The above is an overview of the manual muscle strength testing method, which is currently the most universal and reliable method.

The manual muscle strength testing method, which has been used worldwide since the first half of the 20th century in clinical settings, has been perfected over many years and satisfies the requirements at the clinical level to a large extent.
It is by no means perfect and has some problems, and there are various machines that can substitute for manual muscle strength testing, and attempts to devise these machines are continuing.

The problems with manual muscle strength testing are: (1) Although muscle strength is ranked as described above, it is a subjective judgment of the examiner who manually perceives the patient's muscle strength; It is difficult to quantitatively express the magnitude of force. Furthermore, since the resistance varies depending on the joint to which the muscle belongs, it is not possible to measure absolute force.
In other words, it is a testing method that relies heavily on the knowledge, skill, and experience of the examiner.

(2) It is difficult to evaluate muscle endurance.

(3) In the movement of physiological joint mechanisms, the effects of muscle contraction and joint movement vary depending on the joint angle, so tests should be performed over the entire joint range of motion, but in practice such tests are difficult.

(4) It has been clarified by muscle strength measurements using equipment that have been conducted so far that there is a correlation between the speed of muscle contraction and the muscle strength exerted. It is difficult to determine the relationship between the two using this test.

etc.

Next, I will talk a little bit about muscle strength training.

As mentioned above, it is important to evaluate muscle strength in order to create a rehabilitation training program for a patient. Training was being carried out.

That is, (1) Isometric training
This training involves isometric contraction of the muscles, that is, contractions that do not cause any changes in muscle strength, and is said to be effective in increasing muscle strength if repeated. It is also said that it can be done (by position). This training does not involve movement of the joints, and is equivalent to pushing against a wall or holding a weight.

(II) Isotonic training
(ercise) This training involves joint movement, but the content is similar to lifting a weight.
The load on the muscle remains constant depending on the weight of the weight.

Anti-gravity training also corresponds to this training.

(m) Isokinetic training
(xercise) This training can be thought of as adding joint movement to isometric training, and the speed is set at a constant speed. This is equivalent to pushing a wall that moves at a constant speed while keeping your body in a fixed position.

As mentioned above, the conventional methods of muscle training are limited, and in clinical settings, there is a desire to further expand the ability and effectiveness of muscle training.

Muscle strength training methods can be roughly divided into two types based on the direction of muscle action and the associated joint movements.One of these is concentric training, in which the muscles contract while exerting their strength.

The other type of training is called eccentric training, in which the muscles are stretched while exerting strength.

Isotonic training, which is commonly performed, corresponds to concentric training, and isometric training does not involve the gradual contraction of muscles, but it falls into the category of concentric training due to the way the muscles contract. After all, eccentric training is rarely performed. However, it is meaningful to perform muscle strength training not only in the form of outlet link training, but also in eccentric training, which is generally said to be difficult to implement.

Furthermore, as mentioned above, there are two types of strength training methods that involve movement of joints: isotonic training and isokinetic training, and there is a correlation between the contraction speed of the muscle and the strength exerted. As mentioned above, joint movement is not regulated at all in iso-tonic training, so in order to clarify the effects of muscle strength training, it is necessary to
I am dissatisfied with this point.

Isokinetic training is much more advanced than isokinetic training in that joint movement is regulated to a constant speed. Now, when we look at the functions of joints when we perform daily movements, we will notice that their movements are never uniform, but rather consist of repeated accelerations and decelerations.

For example, if you pay attention to the limb joints when you reach out and pick up something,
At the beginning of this movement, the motion speed of the joint is 0, the joint is extended with a certain positive acceleration, gradually decelerates as it approaches the target object, and when it grasps the object (with a negative acceleration), Its speed will probably be zero. This kind of movement is probably performed in every joint.

In training and even measuring muscle strength, it is necessary to focus on the differential value of joint movement rather than the constant velocity.

By the way, as a conventional device used for the above-mentioned isokinetic training, there is, for example, a muscle exercise device disclosed in Japanese Patent Publication No. 49-45343.

FIGS. 5 and 6 are a plan view and a partially cutaway front view, respectively, showing the configuration of this conventional muscle exercise device.

In the figure, one electric motor 1oo is a reduction gear device 101.
installed on. As can be seen in FIG. 6, reduction gearing 101 is attached to wall plate 103 by suitable screws 102 and includes an output shaft 104. A shaft 106 to which a worm 105 is fixed is connected to a shaft 104 via a thin shaft 106 and a joint 107, and the shaft 106 is supported by two bearings 111 and 112 mounted in two brackets 109 and 110, respectively. It is pivoted. Each bracket 109, 110 is attached to a wall plate 113, and a thrust bearing 114 attached to the shaft 106 is provided with one race 116 that abuts against a shoulder 115 of the shaft 106, and between it and the other race 117. A steel ball is inserted. Spacer cam rods 118, 119 are installed between the wall plate 103 and the wall plate 113, and as shown in FIGS. 5 and 6, each cam rod 118, 119
3, and a left-hand pivot portion 123 located in a hole 122 (not shown) in the left wall plate 103.
8,119 also includes an eccentric portion 124 with a large diameter and an eccentric portion 125 with a small diameter that is coaxial with this eccentric portion 124.
It is equipped with Further, a hole 127 is formed in the spring plate 126, through which the shaft 108 passes with a gap. The spring plate 126 abuts against the race 117 of the thrust bearing 114 and the eccentric portions 124 of the two spacer cam rods 118 and 119, and the thrust force applied to the shaft 106 depending on the rotational angular position of the two cam rods 118 and 119 is set.

The worm 105 has two worm gears 128 and 129.
Worm gear 128 is secured to shaft 130 by a key (not shown), and worm gear 129 is secured to shaft 131 by a similar key (not shown).

The other shaft 130 has one end mounted in a bearing 133 fitted in a hole 132 in the wall plate 113, and the other end mounted in a bearing 135 fitted in a hole 134 in the wall plate 103. A clockwise torque transmission roller clutch 136 is attached to the shaft 130, and a spur gear 137 is fixed to the roller clutch 136. The shaft 130 has two thrust washers 138,
139 (not shown) determines the vertical position. The other shaft 131 has two bearings 140 and 141 (
(not shown in the figure), two thrust washers 142 and 143 (not shown in the figure), a counterclockwise torque transmission roller clutch 144, and a spur gear 145. The shaft 146 is a bearing 1 attached to a hole 147 in the wall plate 103.
It is mounted on a shaft at 48. Gear 149 is fixed to shaft 146 and meshes with gears 137 and 145. A sleeve 151 with an annular plunge 150 is attached concentrically to the shaft 146 and attached to the wall plate 103 by screws 152. As is clear from FIG. 6, the depth gauge 153
13 and a spring biased plunger 155 whose end abuts against the shaft 106. It is designed to indicate displacement. Although not shown, it is also disclosed that by using a pressure sensitive resistor, the mechanical displacement in the axial direction can be converted into an electrical signal and can be electrically instructed.

To explain the operation of the above conventional device having such a configuration, the electric motor 100 connects the worm 10 via the joint 107.
The rotation of the worm 105 causes the gear 128 to rotate counterclockwise and the gear 129 to rotate clockwise. However, at this point, the muscle force input axis 146
Unless an external force is applied to the roller clutch 136°14
4, the spur gears 128 and 137 and the spur gears 129 and 145 are not coupled, respectively, and the worm 105 is rotating under no load. On the other hand, when an external force in the clockwise direction is applied to the muscle force input shaft 146 as the exerciser's muscle movement, the spur gear 137 and the spur gear 145 that mesh with the gear 149 are both rotated counterclockwise, but the roller clutch 13
6 and 144 are the worm gear 128 and the gear 13, respectively.
7, the worm gear 129 and the gear 145 rotate in the same direction, and the gear 137 (145) rotates in the same direction as the worm gear 1
28 (129), so that no resistance to the force applied to the force input shaft 146 occurs as long as the rotation speed of the gear 137 does not exceed the rotation speed of the gear 128. When the rotation speed of gear 137 exceeds the rotation speed of gear 128, clutch 13
6 is in the connected state, and the worm gear 128 is connected to the worm 1.
05 cannot be rotationally driven, the excess momentum of the speed valve acts as a thrust force in the axial direction that moves the shaft 106 to the right in the figure via the worm 105, and the thrust force is applied to the depth gauge. 153.

Moreover, since the electric motor 100, that is, the worm gear 128 (or 129) always maintains a constant rotational speed set to a desired speed, this muscle exercise device can set any exercise force at any exercise speed. , can be used for isokinetic training.

However, with the above-mentioned conventional device, eccentric training cannot be performed, and even if concentric training can be performed, muscle movement can only be performed at a preset constant movement speed, and pattern control According to 116 = Training, that is, it is difficult to control with various combinations of arbitrary constant velocity and arbitrary constant acceleration, or to control with arbitrary velocity patterns that have the highest training effect for the subject. be.

Further, in the above conventional device, the electric motor 1
The rotational force transmission system leading to 00 is complicatedly curved, and backlash, twisting, and deflection of the transmission shaft occur in the transmission system, which greatly affects the measured values of torque, speed, etc. with respect to joint angle. There is a drawback.

(e) Purpose The present invention has been made in view of the above-mentioned circumstances.The purpose of the present invention is to have a simple structure, prevent backlash, shaft twisting, deflection, etc. in the rotational force transmission system, and therefore achieve high precision. To provide a muscle strength training measurement device capable of measuring muscle strength and training, more objectively and accurately evaluating the muscle strength of a subject, and performing more efficient and rational training.

(d) Configuration The gist of the present invention will be explained in detail below based on examples.

FIGS. 1(A) and 1(B) are vertical cross-sections showing an input side half and a half on the opposite side of the input side, respectively, of the mechanical configuration of an embodiment of the muscle strength training measuring device according to the present invention. Figure, 2nd
3 is a longitudinal sectional view showing the overall configuration of an embodiment of the muscle strength training measurement device according to the present invention, FIG. 3 is a side view showing the structure of an embodiment of the ankle joint fixation device as an adapter, and FIG. FIG. 2 is a perspective view showing a state in which the adapter is attached to the muscle strength training measuring device.

First, an adapter for inputting the muscle strength of the subject into the muscle strength training measuring device will be explained. As the adapter, an ankle joint fixing device, a knee joint fixing device, a hip joint fixing device, etc. are prepared, but here, one embodiment of the interpedal interphalangeal fixing device 1 will be described.

As shown in Fig. 3, the ankle joint fixing device 1 is used to firmly fix the subject's ankle from slightly above the ankle to the fingertips by attaching it to the muscle strength training measuring device. The ankle fixing part 2 and the sandal-like part 3 are pivotally connected by a pivot 4 so that the part below the ankle can rotate within a predetermined angle range. As shown in FIG. 4, a connecting shaft 5 having a collar 5a in the middle and a spline formed at the tip extends therein, and also includes an ankle band 6 for tightening the ankle and a part between the ankles and the foot. A leg band 7 is provided to tighten the tip. These ankle bands 6 and foot bands 7 have their proximal ends fixed to the ankle fixing part 2 and the bottom part 8, respectively, and have surface adhesive fasteners (so-called magic fasteners) sewn to their distal ends. .7 and its length can be changed.

When using this ankle joint fixing device 1, the connecting shaft 5 is connected to a muscle strength input shaft 9 provided on the side of the muscle strength training measuring device, which will be described later.
Insert it into the spline hole ○a [see Figure 1 (A)] and engage it. Then, the ankle band 6 and foot band 7 are loosened, and the foot of the subject sitting on a chair or bed is inserted from above the ankle stiffening section 2, and the foot is inserted into the sandal-like section as if wearing sandals. Put in. Each band 6.7 is then tightened and secured with surface adhesive fasteners. The state at this time is as shown in FIGS. 3 and 4. When the toe of the foot is plantarflexed or dorsiflexed in this wearing state, a rotational moment, or torque, is generated in the connecting shaft 5, which is attached to the ankle joint with its center of rotation, and this torque is applied to the muscle strength training measuring device. It will be input (applied) via the input shaft 9.

Next, Figures 1 (A), (B) and 2 show the configuration of a muscle strength training measurement device that receives the muscle strength input in this way, controls it with a predetermined training speed pattern, and measures muscle strength. Explain using.

The muscle force input shaft 9 is horizontally inserted into the detection unit housing IO, is rotatably supported via a ball bearing 11, and is supported in the axial direction by a snap ring 12a,
12b prevents movement. (Although other snap rings are used in this embodiment, their explanations will be omitted.) The input end of this muscle force input shaft 9 [Fig.
), the center of the spline hole 9a on the right end] is provided with an adapter, for example, the connecting shaft 5 of the ankle joint fixing device l mentioned above.
Guide bin 9 for easy operation when installing
b is planted.

A rotary shaft 13 is integrally formed adjacent to the muscle force input shaft 9, and a strain-generating portion 138 whose diameter is smaller than that of other portions is formed in the middle portion of the rotary shaft 13. The output end (left end) of the rotating shaft 13 is rotatably supported by a ball bearing 16 fitted to a mounting board 15 fixed to the detection housing 10 with mounting screws 14. On the outer circumferential surface of the strain-generating portion 13a, there are 45" and 135" with respect to the axis of the rotating shaft 13.
A pair of strain gauges SGI and SG2 are attached in the @ direction by adhesive, vapor deposition, or other means. (Incidentally, strain gauges may also be attached to a portion on the outer peripheral surface that is axially symmetrical to the portion to which the strain gauges SGI and SG2 are attached (a portion shifted by 180'').)

Further, on the outer circumference of the rotating shaft 13, a brush stand 17 attached to the mounting board 15 and a plurality of brush stands 17 arranged in parallel to each other so as to extend in a direction perpendicular to the axis of the rotating shaft 13 are provided. The attached brush holder 18 , the brush 20 attached to the tip of the brush holder 18 and urged by a spring 19 in a direction to press against the outer circumferential surface of the rotating shaft 13 , and the outer periphery of the input end side of the rotating shaft 13 The proximal end (right end) side half is fitted and fixed by the mounting screw 21, and the distal half is fitted with an insulating ring 22 disposed so as to surround the outer periphery of the strain-generating portion 13a, and the insulating ring 22. A plurality of strain gauges are fitted at equal intervals in the axial direction and in contact with the brush 20, respectively, and connected to each terminal (generally referred to as a gauge tab) of the strain gauges SGI and SG2 via gauge leads. A slip ring mechanism 24 consisting of a slip ring 23 is provided. Here, the strain gauge SG1. A portion consisting of the rotating shaft 13 having the strain-generating portion 13a to which the SG2 is attached and the slip ring mechanism 24 will be referred to as a torque detecting means 25.

Further, an angle detecting means 26 and a rotational speed detecting means 27 are housed and held within the detecting unit housing 10.

That is, the angle detection means 26 is composed of a speed increasing gear mechanism, a slit disk, a rotary encoder, etc. To explain this in more detail, the output end 13b of the rotating shaft 13
A large gear 28 is fitted in and fixed by a key 29. A small gear 30 meshes with this large gear 28, and this small gear 30 is rotated by a ball bearing 33 fitted in a gear box 32 of a planetary gear mechanism 31.
A rotatably supported input shaft 34 is fitted and the key 3
It is fixed by 5. The rotation of this input shaft 34 is
Although not shown, the output shaft 3 is sped up and supported by a ball bearing 36 via a planetary gear mechanism 31 having a similar configuration to a planetary gear mechanism that will be explained in detail later.
7. This output shaft 37 has a slit disk 3
8 are fitted and fixed by nuts 39.

A photocoupler (not shown) of a non-contact type rotary encoder 40 is provided so as to sandwich the periphery of the slit disk 38. This rotary encoder 40 is attached to the gear box 32. In this embodiment, the ratio of the number of teeth 21 of the large gear 28 to the number of teeth 22 of the small gear 30 is set to DI/Dz=2, and the speed ratio i of the planetary gear mechanism 31 is The rotation speed ratio (speed ratio) of the output shaft 37 to the muscle force input shaft 9 is set to 50. has been done. A large number of slits are bored near the periphery of the slit disk 38, and the rotary encoder 40 uses a photosensor to convert the pulsed light beams that are intermittently passed through the slits into electrical signals. The rotation angle of the muscle force input shaft 9 from the reference angular position is detected by appropriately dividing the frequency according to the speed ratio and the number of slits.

The rotational speed detection means 27 roughly consists of a speed increasing mechanism 41 and a tacho generator 42.

That is, this speed increasing mechanism 41 includes a large pulley 43 fixed to the output end of the rotating shaft 13 adjacent to the large gear 28, and a small pulley that receives the rotational force of the large pulley 43 via a flat belt 44. 45. The small pulley 45 is fitted and fixed to the input shaft 46 of the tachogenerator 42, and its casing portion is fixedly attached to the detection unit housing IO and the mounting board 15. In this embodiment, the ratio between the diameter D1 of the large pulley 43 and the diameter D2 of the small pulley 45 is set to Dx/Dz=5. Rotation speed detection means 2 configured in this way
7 detects the rotation speed (for example, rotation angle per second) of the muscle force input shaft 9.

The central housing 47 is fitted and fixed to the end portion of the detection unit housing 10 and is integrated therewith. Inside this central housing 47, a planetary gear mechanism 48 as a speed increasing means,
A powder brake 49 as a braking means, furthermore, as shown in FIG. 1(B), an electromagnetic clutch 50 as a one-turn force connection means, a two-stage planetary gear mechanism 51 as a deceleration means, etc. are housed and supported. There is.

Although the internal mechanism of the planetary gear mechanism 4B is not shown in the drawings, it has the same basic principle as a planetary gear mechanism 51, which will be described later, and has a spline hole formed in its input shaft 52. The splined output end 13b of the rotating shaft 13 of the torque detecting means 25 described above is fitted into the hole. The output shaft 53 of the planetary gear mechanism 48 is fitted into a sun gear (not shown) and fixed by a key 54.

Incidentally, the speed increasing ratio of the planetary gear mechanism 48 in this embodiment is as follows:
It is set to 5 times. The fixing member (internal gear) of the planetary gear machine 1148 is fixed to the central housing 47 with a mounting screw 55. In the powder brake 49, a casing 56 is fixed by a mounting screw 57, and a ball bearing 58 is fitted into a hole drilled in the casing No. 56. On the other hand, the planetary gear mechanism 48
A hollow input shaft 59 into which the output shaft 53 is fitted and fixed by a key is fitted into the ball bearing 58 and rotatably supported. A rotary cylinder 60 is fixed to the input shaft 59 by a mounting screw 61, and a magnetic flux blocking ring 62 is inserted in the center of the outer peripheral surface of the rotary cylinder 60, and is indicated by a broken line in FIG. 1(A). It is configured so that a magnetic path 63 as shown is formed.

A rotary cylinder 60 is provided on the inner peripheral side of this rotary cylinder 60.
A fixed rotor 64 made of a rotating body with a circular cross section and concentric with the axis of the magnetic path 63 is disposed, and is fixed by a mounting screw 68 to a connecting cylinder 67 fixed to a fixed side plate 65 with a mounting screw 66. configured to form a part.

A yoke 69 is attached and fixed to the casing 56 using attachment screws (not shown), and the stationary side plate 65 is attached to and integrated with the yoke 69 using attachment screws (not illustrated). The above yoke 69 is.

It has a coil 70 inside, and is formed into a circular shape so that its inner circumferential surface has a constant gap from the outer circumferential surface of the rotating cylinder 60. A closed space 71 surrounding the rotating cylinder 60 is formed by the casing 56, yoke 69, and fixed side plate 65. Magnetic powder (so-called powder) 72 is inserted inside the magnetic path 63, that is, in the operating gap between the inner surface of the rotating cylinder 60 and the outer circumferential surface of the fixed rotor 64, and the inner circumferential surface of the base of the rotating cylinder 60 is inserted. Labyrinths 73a and 73b are attached to prevent the magnetic powder 72 from flowing out into the output shaft 74 and the closed space 71,
Furthermore, a sealing 75a is provided to prevent this magnetic powder 72 from leaking to the output shaft 74 side and the closed space 71 side.

75b is provided.

The output shaft 74 of the powder brake 49 has one end fitted into a hollow input shaft 59 and is fixed with a key, and the other end is connected to an electromagnetic clutch as shown in FIG. 1(B). 50 is connected to the output 76 of 50. still,
The electromagnetic clutch 50 is shown in Figure 1.

Since it is configured so that it can be rotated from either the left or right side, it is difficult to refer to either side as the input side, but here we will mainly consider the drive by the pulse motor 77 as the electric drive means, and the pulse motor 77 side will be referred to as the input side. side 78'', and the muscle force input shaft 9 side will be referred to as the "output side 76". Since the electromagnetic clutch 50 is well known, its detailed configuration is omitted from illustration, but it is composed of, for example, a coil, an armature, a stator, a rotor, etc., and the stator and rotor are connected by energizing the coil. It is configured to connect the input side 78 and the output side 76, and to cut off the connection between the input side 78 and the output side 76 by cutting off the current supply.

On the other hand, inside the motor housing 79 is a pulse motor 77.
is supported by storage. That is, this pulse motor 77 is fixed to a support tube 81 which is fixed to a motor housing mounting portion 798 with a mounting screw 80 via a vibration isolating rubber 82 with a set screw 83 and a nut 84 . One side of a coupling 86 is connected to the output shaft 85 of the pulse motor 77, and the input shaft 88 of the planetary gear mechanism 51 as a deceleration means supported by a ball bearing 87 is connected to the other side of the coupling 86. Fixed.

The planetary gear mechanism 51 is a two-stage planetary gear mechanism, and the first stage includes a sun gear 89a into which the input shaft 88 is fitted and fixed, a fixed internal gear 90a, and a sun gear 89a. a planetary gear 91a that is interposed between the fixed internal gear 90a and meshes with both gears 89a and 90a;
The planetary gear 91a is rotatably supported on the distal end side, and the carrier 92a as an arm is disposed on the base end side so as to be rotatable concentrically with the axis of the input shaft 88a. Similarly to the first stage, the second stage also has a sun gear 89b,
Fixed internal gear 90b, planetary gear 91b and carrier 9
2b, and the second stage sun gear 89b is connected to the carrier 92 which is the output end of the first stage.
The second stage carrier 92b is integrally connected to the output shaft 93. The two fixed internal gears 90a and 90b are attached to a gear box 95 with a mounting screw 94 in a stacked state with a spacer inserted between them.

This gear box 95 is attached to the motor housing attachment portion 79a with attachment screws 80. The output shaft 93 is supported by the gear box 95 via two ball bearings 96 and 96, and its right end side is connected to the input side 78 of the electromagnetic clutch 50. In addition, in the case of this embodiment, each carrier 92a.

92b includes three planetary gears 91a at 120' intervals,
91b is provided.

Now, the planetary gear mechanisms 31 and 48 as speed increasing means, the explanation of which has been omitted, will be explained based on the configuration of the planetary gear mechanism 51 described above. Here, two speed change means, a deceleration means and a speed increase means, are used, but their configurations are almost the same, and by reversing the input and output, the deceleration means can be used as a speed increase means or as a speed increase means. The speed increase means functions as a deceleration means.

That is, the planetary gear mechanisms 31 and 48 are the same as the planetary gear mechanism 5.
Although the configuration is almost the same as the first stage configuration of No. 1, the speed ratio and shape and dimensions are set appropriately. Incidentally, the reduction ratio of the planetary gear mechanism 51 is set as follows.

Now, the sun gear 89 is rotated by the rotational force of the pulse motor 77.
a is coupling 86. When rotationally driven via the input shaft 88, the planetary gear 91a meshing with the sun gear 89a and the fixed internal gear 90a revolves around the outer periphery of the sun gear 89a, and rotates around the pivot 92c at the tip of the carrier 92a. Rotate. The carrier 92a is rotationally driven by the revolution of the planetary gear 91a. Here, sun gear 8
Assuming that the number of teeth of gear 9a is ZA, the number of rotations is Nm, and the number of teeth of fixed internal gear 90a is Zc = 32-, the number of rotations of carrier (first stage output shaft) 92a is NB.
is determined by the following formula.

Ne = NA/ (1+ (Zc /ZA)) In the above formula,
By selecting the number of teeth such that (Zc/ZA term) becomes large, the reduction ratio of the first stage planetary gear mechanism can be increased.

In the case of this embodiment, the reduction ratio of this first stage is set to 115. Since the second stage reduction mechanism has a similar configuration, the overall reduction ratio of the planetary gear mechanism 51 is 1/25.
becomes.

On the other hand, since the planetary gear mechanism 48 as a speed increasing means has a speed increasing ratio set to 5/1, when it is rotationally driven from the output shaft 53 side, the input end 52 is decelerated at a speed reduction ratio of 115. will be done.

Therefore, the reduction ratio when the muscle force input shaft 9 is rotationally driven by the pulse motor 77 is (1/25).(115)=1/125.

Next, the overall configuration will be explained using FIG. 2.

The casing that houses and holds the muscle strength training measuring device according to the present invention includes:
Broadly divided, upper housing 97a, middle housing 97
b and a lower housing 97c, of which the upper housing 97a is composed of the detection unit housing IO, the center housing 47, and the motor housing 79, as described above. The lower housing 97c has one leg 97d extending laterally.
A total of four leg wheels 98 are attached to d, allowing it to move easily on the floor. These housings 97
The above-mentioned planetary gear mechanisms 48, 51.a to 97c are housed in the upper housing 978. Mechanical parts 99a such as the electromagnetic clutch 50 and pulse motor 77 are mainly located inside the intermediate housing 97b.
9b is.

The tachogenerator 4 is located inside the lower housing 97c.
2. In response to the outputs of the rotary encoder 40, torque detection means 25, etc., the pulse motor 77 and the electromagnetic clutch 50
, an electric unit 99c such as a control device and a power supply device for controlling the powder brake 49 and the like are respectively provided.

Next, the operation of the embodiment having such a configuration will be explained separately for the case of outlet link training and the case of eccentric training.

(I) Concentric training operation In the case of concentric training, the pulse motor 77 is not driven to rotate, but the powder brake 49 is used.

That is, the ankle joint fixing device 1 as an adapter is attached to the leg of the subject as described above. Then, as shown in FIG. 4, the connecting shaft 5 is fitted and connected to the muscle force input shaft 9. In this state, for example, when the subject plantarflexes and dorsiflexes the foot, the muscle force input shaft 9
Torque corresponding to muscle strength is input to This torque is
The output end 13b of the torque detection means 25 passes through the strain-generating portion 13a.
The rotational speed is increased to five times by the planetary gear mechanism 4 serving as speed increasing means, and then transmitted to the powder brake 49. The torque input to the input shaft 59 of the powder brake 49 rotates the 35-turn cylinder 60 and the output shaft 74. This rotary cylinder 60 has a yoke 69 having a fixed rotor 64 disposed inside and a coil 70 disposed outside.
For example, when the coil 70 is energized to be in an excited state, the magnetic flux is as shown in Fig. 1 (A
), a flow magnetic path 63 is formed as shown by the broken line.

The magnetic powder (powder) 72 magnetized by this magnetic flux is connected in a chain along the magnetic path 63 and solidified, and the bonding force thereof corresponds to the current applied to the coil 70. Therefore, a braking force corresponding to the current applied to the coil 70 is generated between the fixed rotor 64 and the rotating cylinder 60, and the input shaft 59
will be braked. On the other hand, when the current to the coil 70 is cut off and it is in a non-excited state, the magnetic flux instantly disappears.
At the same time, the magnetic powder 72, which had been solidified in a chain, is quickly uncoupled and pushed toward the inner wall surface of the rotating cylinder 60 by the centrifugal force of the rotating cylinder 60. That is, the clutch state is released. During such idle rotation, a gap is created between the magnetic powder-Yoichi 72 and the fixed rotor 64, and the frictional heat is
In particular, the illustrated powder brake 49 uses a cylinder rotating type, so centrifugal force can be used effectively, and the magnetic powder 72 has good uniform distribution and dispersion in the working gap. High stability of slip torque,
It also has low drag torque and very quick response.

The output shaft 74 of this powder brake 49 is connected to the output side 76 of the electromagnetic clutch 50, but in the case of concentric training, a control device (not shown) is separately provided.
The output side 76 and input side 78 of the electromagnetic clutch 50 are cut off by a command signal from the electromagnetic clutch 50. This is to prevent the planetary gear mechanism 51 and pulse motor 77 from being subjected to unnecessary loads during measurement or training of muscle strength input from the muscle force input shaft 9.

The powder brake 49 increases or decreases the braking force by changing the current (or voltage) applied to the coil 70 in response to a braking signal output from a separately provided control device. 1. For example, the muscle force input shaft 9 is configured to move according to a preset speed pattern regardless of the magnitude of the muscle force. That is, the velocity pattern is given as a function of time or a function of angle, and when a predetermined velocity pattern is selected and muscle force is applied to the muscle force input axis 9, the force input axis 9
The rotation angle is controlled moment by moment to a predetermined speed according to the rotation angle relative to the rotation angle or the elapse of time from the rotation start point.

To explain the operation of the angle detection means 26 that detects the rotation angle of the muscle force input shaft 9 from the reference angular position (0'' position), the rotation of the muscle force input shaft 9 is caused by the torque detection means 2.
A large gear 28 and a small gear 30 fixed to the output end 13b of 5
The speed is increased by a factor of 2 by a speed-increasing gear system consisting of the following, and the speed is further increased by a factor of 25 by a planetary gear mechanism 31 and transmitted to the slit disk 38. This rotation of the slit disk 38 is detected by a rotary encoder 40, and an electrical signal corresponding to the rotation angle from the reference angular position is generated and guided to the control device.

Next, to explain the operation of the rotational speed detection means 27 that detects the rotational speed of the muscle force input shaft 9, the rotation of the muscle force input shaft 9 is as follows.
That is, the rotation of the large pulley 43 fixed to the output end 13b of the torque detecting means 25 is increased five times by a speed increasing transmission system consisting of the large pulley 43, the flat belt 44, and the small pulley 45, and is then input to the tachogenerator 42. The rotational speed of the input shaft 46 is detected by the tachometer generator 42, and an electrical signal corresponding to the rotational speed of the muscle force input shaft 9 is generated and guided to the control device.

The torque detection means 25 operates in a first-order manner.

That is, the strain-generating portion 13b has torsion corresponding to the torque applied from the muscular force input shaft 9 at the stage before the rotary shaft 13, and the load from the planetary gear mechanism 48, powder brake 49, etc. at the stage after the output end of the rotary shaft 13. Distortion occurs. This strain is detected by strain gauges SGI and SG2 and converted into an electrical signal. This electric signal is transmitted to the slip ring 23, the brush 20. The information is sequentially transmitted via the brush holder 18 and the like, and guided to the control device.

In the control device, the rotation mode information of the muscle force input shaft 9, the rotation angle information and torque information from the reference position, the elapsed time information from the start of rotation of the muscle force input shaft 9, etc. are collected as described above. Among these information, for example, rotation speed information, rotation angle information, and preset (memory)
The control pattern based on the training program, for example, the speed pattern, is compared and calculated point by point, and the rotational speed of the muscle force input shaft 9 rotated by the subject follows the above speed pattern to the coil 70 of the powder brake 49. The braking force is controlled by adjusting the energizing current. That is, the control device applies a braking signal to the powder brake 49 to control the powder brake 49 so that the powder brake 49 follows a predetermined speed pattern no matter what force is applied to the muscle force input shaft 9.

(U) Eccentric training operation When eccentric training is selected, a command signal is given to the electromagnetic clutch 50 from the control device to the effect that the deceleration means and the braking means should be connected, and at the same time a command signal is given to the electromagnetic clutch 50 to cause the powder brake 49 to be in a non-braking state. Since the signal is applied, the electromagnetic clutch 50 connects the input side 78 and the output side 76, and the power to the coil 70 of the powder brake 49 is cut off, so that the powder brake 49 is in a non-braking state. Under such conditions, the pulse motor 7 is controlled according to a predetermined control pattern by the speed signal output from the control device.
7 is rotationally driven. Here, eccentric training means that the subject is exposed to an external force such as a motor drive force (from the subject's perspective).
This is a method of measuring, for example, how much a muscle can resist or how much it can follow the movement of an external force, and then analyzing the results to train those muscle movement abilities. Therefore, among the above three types of detection means 25, 26, 27, regarding the torque detection means 25, unlike the concentric training movement, the load is on the muscle force input shaft 9 side, but the operation of each detection means is as follows. To explain in a little more detail the operation in zero-order eccentric training, which is similar to that explained in (1) above, the rotation of the pulse motor 77 is controlled as a deceleration means via the output shaft 8"5 and the coupling 86. is input to the planetary gear mechanism 51 of
/25, and is further decelerated to 115 by being input to the planetary gear mechanism 48, which functions as a deceleration means in this case, via the electromagnetic clutch 50 and powder brake 49 (therefore, the rotation of the pulse motor 77 is is 1/12
5), and is transmitted to the muscle force input shaft 9 via the rotating shaft 13 forming a part of the torque detecting means 25.

According to this embodiment configured and operated as described above,
The following advantages can be obtained.

■ First, it is equipped with a powder brake 49, an electromagnetic clutch 50, and a pulse motor 77, and by controlling the current applied to the powder brake 49 with the electromagnetic clutch 50 cut off, concentric training and measurement can be performed. In addition, by connecting the electromagnetic clutch 50 and putting the powder brake 49 in a non-braking state, controlling the drive pulse frequency to the pulse motor 77,
You can also do eccentric training and measurements. In addition, muscle strength can be easily measured even in subjects for whom it is impossible to perform a weight resistance test. So-called Active-A 5s
The method called istive makes it easy to measure muscle strength, which is difficult to evaluate using manual tests.

Here, the active-A5ssive method measures the ``pushing force'' while pulling the lower limbs of the test subject in the sitting position (while supporting the movement), and is used in Stage 2 of the manual muscle strength test. , 3 subjects.

■ The torque transmission system from the muscle force input shaft 9 to the powder brake 49 and the torque transmission system from the muscle force input shaft 9 to the pulse motor 77 are configured so that so-called mechanical play, backlash, torsion, etc. hardly occur. Therefore, muscle strength training can be measured with extremely high accuracy.

That is, the muscle force input shaft 9 and the rotation shaft 13 of the torque detection means 25
The rotating shaft 13 and the input shaft 52 and output shaft 5 of the planetary gear mechanism 48 as speed increasing means are integrally formed.
3, the input shaft 59 and output shaft 74 of the powder brake 49 as a braking means, the output side 76 and the input side 78 of the electromagnetic clutch 50 as a rotational force connection means, and the output of the planetary gear mechanism 51 as a reduction means. The shaft 93, the input shaft 88, and the respective axes of the output shaft 85 of the pulse motor 77 as the electric drive means are arranged on a straight line and connected sequentially, that is, the direction of torque transmission can be changed. Since the configuration does not involve any bevel gears or universal shims, it is possible to avoid deflection, twisting, backlash, torque, etc. that tend to occur in the middle of the torque transmission system to the maximum extent possible, and the torque to the muscle force input shaft 9 can be minimized. detection,
Speed control etc. can be performed with high precision. and,
Since the input and output shafts are coaxial and the planetary gear mechanisms 48 and 51 are used as the speed increase means and deceleration means, and are compact but can obtain a large speed ratio, backlash can be minimized and the transmission system The total length (distance from the starting end to the ending end) can be shortened, and the axial rigidity can therefore be increased, and in this respect as well, the accuracy of muscle strength measurement can be improved.

■ Planetary gear mechanism 31, 48, 51, torque detection means 2
5. Powder brake 49, electromagnetic clutch 50, pulse motor 77, tacho generator 42, angle detection means 26
etc. are housed and supported in a housing (upper housing 97a) that has a relatively large weight, and the entire weight is transferred to the muscle force input shaft 9 via an adapter around the ankle, knee, and hip joints of an able-bodied person. The weight (for example, 200 kg) is such that the muscle strength training measuring device does not float or move laterally due to the muscle force input when the user inputs the muscle force. Since the wheels 98 are attached, the muscle strength training measuring device can be easily and easily moved to the right or left side of the subject 1, and rotation of the leg wheels 98 is prevented during training and measurement. Or legs 97
The device is extremely easy to use because the device can be stably fixed simply by inserting a wedge-shaped fixture between the device and the floor. Therefore, there is no need to provide separate muscle force input shafts and torque transmission systems for the right and left joints, which greatly simplifies the configuration and reduces costs.

- The angle detection means 26 does not simply detect the rotation angle of the muscle force input shaft 9 directly, but after increasing the rotation speed of the muscle force input shaft 9 using the large gear 28 and the small gear 30, 31 (finally by increasing the speed to 50 times), the signal is transmitted to the slit disk 38, and the number of passages through the slit of the slit disk 38 is determined by a photocoupler (a slit circle between the light emitting element and the light receiving element). Since the angle is detected by rotating the slit of the plate 38, the angle detection accuracy, that is, the resolution, can be dramatically improved. Therefore, the control pattern during training can be faithfully reproduced,
The training effect can be improved. In addition, in muscle strength measurement, the peak torque generation angle when torque corresponding to the dorsiflexion force and plantarflexion force of the subject's ankle, or the bending and stretching force of the knee joint and hip joint is applied to the muscle force input shaft 9, It is possible to accurately measure peak torque generation speed, etc. Generally, a potentiometer is used as an angle detection means. For example, a single-turn potentiometer has a dead zone between θ° and 360°, and a multi-turn potentiometer has sliding parts, so it has poor durability. A non-contact method using a photocoupler is advantageous in terms of maintenance, and is far superior in terms of measurement accuracy.

(2) In the torque detection means 25, the slip ring mechanism 24 is disposed in such a manner that it also overhangs the outer periphery of the strain-generating portion 13a of the rotating shaft 13.
4 can be effectively utilized, and this greatly contributes to reducing the axial length of the torque transmission system.

■ As a speed increasing means, a planetary gear mechanism 48 is used and its speed increasing ratio is set to a predetermined value (in the case of the example, a speed increasing ratio of 5 times), so that its own wave nodes cannot be moved against gravity. Even when a wide range of muscle strength is input, from the muscle strength of a disabled person to the muscle strength of a healthy person, predetermined control can be performed.

That is, the muscle torque exerted during extension of the knee joint of an adult male is approximately 10 kgf-m. ) is set to 5 times, the rated capacity of the powder brake 49 is 2 kgf-m. If the speed increase ratio is large, not only will the friction of the system become large, but also the moment of inertia of the powder brake 49 as seen from the muscle force input shaft 9 will become large.
This is inconvenient because it takes time to increase the rotation speed to a predetermined number. In this embodiment, the speed increasing ratio and the rated capacity of the powder brake were determined in consideration of these circumstances.

■ In the case of eccentric training, the planetary gear mechanisms 51 and 48 are made to function as deceleration means, and the pulse motor 7
The rotational speed of 7 is reduced to 1/125 and the muscle force input shaft 9
Since the pulse motor 77 is configured to transmit
It is possible to use a device with a small driving torque, and the responsiveness of speed control is also high, so that control accuracy can be significantly improved. Furthermore, a secondary effect of alleviating drive vibrations peculiar to pulse motors can also be obtained.

(2) Since the torque detecting means 25, the angle detecting means 26, and the rotational speed detecting means 27 are provided, muscle strength (torque), speed, and acceleration can be detected or calculated by calculation for the entire joint range of motion. These quantities can be accurately measured without being affected even if the speed or acceleration falls below the specified control value.

Moreover, by displaying these torque, velocity, and acceleration and by preparing a monitor unit for the test subject, it is possible to perform biofeed balance training, which can be used not only for orthopedic muscle training but also for patients with neurological diseases Advanced training becomes possible.

Note that the present invention is not limited to the embodiments described and illustrated above, and various modifications can be made without departing from the spirit thereof.

For example, the axial mounting positions of the rotary encoder 40 and the tachogenerator 42 include the powder brake 4
9 and the electromagnetic clutch 50, and the rotational force of the output shaft 74 of the powder brake 49 may be inputted via an appropriate transmission means. With this configuration, the rotational speed is increased five times by the planetary gear mechanism 48 compared to the embodiment shown in FIG. 1(A). Planetary gear mechanism 3
1 speed ratio can be reduced, and the large pulley 43
The speed increasing ratio of the speed reduction mechanism 41 consisting of the small pulley 45 and the small pulley 45 can be reduced (specifically, the speed is reduced to 1/2.5).

In addition, a display device that displays the load torque on the muscle force input shaft 9, rotation angle and rotation speed of the muscle force input shaft 90, muscle power power, etc., or a printer device that prints out information is attached to the part that the subject can see during training. It's okay.

(e) Effects As is already clear from the above detailed explanation, the present invention has a simple configuration, is less likely to cause backlash, shaft twist, shaft deflection, etc. in the rotational force transmission system, and has high precision. It is an object of the present invention to provide a muscle strength training measuring device capable of measuring muscle strength, thereby enabling more objective and accurate evaluation of the muscle strength of a subject, and capable of efficiently and rationally performing not only outlet link training but also eccentric training. can.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIGS. 1(A) and 1(B) show an input side half and a half on the opposite side of the mechanical configuration of an embodiment of the muscle training measuring device according to the present invention. Longitudinal cross-sectional view showing each part, 2nd
1 is a cross-sectional view showing the overall configuration of an embodiment of the muscle strength training measuring device according to the present invention; FIG. 3 is a side view showing a state in which an ankle joint fixing device as an adapter is attached to the foot of a subject; Fourth
The figure is a perspective view showing how the adapter is attached to the muscle strength training measurement device shown in Figure 2, and Figures 5 and 6 are
FIG. 2 is a plan view and a partially cutaway front view showing the configuration of a conventional example. l... Between the legs - fixing device, 9... Muscle force input shaft, 10... Detector housing, 13... Rotation axis. 13a...Strain generating part, 13b...Output end, SGI, SG2...Strain gauge, 24...
... Slip ring mechanism, 25 ... Torque detection means, 26 ... Angle detection means, 27 ... Rotation speed detection means, 31.48.51 ... ...Planetary gear mechanism. 34.46,52,59,88... Input shaft. 53.74,85,93... Output shaft, 40...
...Rotary encoder, 42...Tacho generator. 47... Central housing, 49... Powder brake, 50... Electromagnetic clutch, 60... Rotating cylinder, 64... Fixed rotor, 69...York, 70...
Coil, 72...Magnetic powder, 76...
...Output side, 78...Input side, 79...Motor housing, 86...Coupling, 97a...Upper housing, 97b... ...Middle housing, 97c...Lower housing, 9B...Brace wheels, 99e...Electrical unit. Figure 3 Figure 4 So/C So 10

Claims (6)

[Claims] (1) In a muscle training device primarily used to train muscle strength and measure and evaluate the function of muscles and joints of people with disorders in muscles, joints, or their motor command systems, the force exerted by muscles is converted into torque. A muscle force input shaft to be inputted, a speed increasing means for increasing the rotational speed of the muscle force input shaft at a predetermined speed increasing ratio, and a speed increasing means provided between the speed increasing means and the muscle force input means and said muscle force input shaft. a torque detecting means for detecting applied torque; and an input shaft connected to the output shaft of the speed increasing means, and controlling the load by applying braking to the muscle force input shaft in response to a braking signal from a separately provided control device. a braking means, an electric drive means whose rotational speed changes according to a speed signal from the control device, a deceleration means that reduces the rotational speed of the electric drive means at a predetermined reduction ratio, this deceleration means and the braking device. a rotational force connecting means provided between the means and the means for connecting and disconnecting the means in accordance with a command signal from the control device; a rotational speed detecting means for detecting the rotational speed of the muscular force input shaft; angle detection means for detecting a rotation angle of the input shaft from a reference angular position, a rotating shaft of the torque detection means integrally formed with the muscle force input shaft, and an input shaft and an output shaft of the speed increasing means. and the input shaft and output shaft of the braking means, the output shaft and input shaft of the rotational force connection means, the output shaft and input shaft of the deceleration means, and the output shaft of the electric drive means. A muscle strength training measurement device characterized in that the device is arranged in a straight line and connected. (2) The speed increasing means includes an internal gear fixed to a stationary part, an arm that rotates together with the output shaft of the torque detection means, and a rotatably supported arm that meshes with the internal gear. Claim 1, which is constituted by a planetary gear mechanism comprising a planetary gear and a sun gear that meshes with the planetary gear and is rotatably supported coaxially with the axis of the output shaft of the torque detection means. strength training measurement device. (3) The deceleration means includes an internal gear fixed to a stationary part, a sun gear rotating together with the output shaft of the electric drive means, a planetary gear meshing with the sun gear and the internal gear, and a planetary gear on the tip side. Two planetary gear mechanisms are arranged in series, each consisting of an output shaft that rotatably supports the planetary gear and whose base end side is rotatably supported on the same axis as the axis of the sun gear, and an arm that rotates integrally with the output shaft.
The muscle strength training measurement device according to claim 1, which is constructed by connecting stages. (4) The braking means includes a yoke fixed to a stationary part, a cylinder connected and rotatably supported to an input shaft and an output shaft, respectively, a rotor fixed to the stationary part, and a combination of the rotor and the cylinder. Claim 1, which is a powder brake composed of magnetic powder inserted in a gap.
Muscle training measuring device described in Section 1. (5) The torque detection means includes a strain-generating portion formed by forming a part of the rotating shaft integrally continuous with the muscle force input shaft to have a smaller outer diameter than other shaft portions, and a strain-generating portion surrounding the vicinity of the outer periphery of the strain-generating portion. A current collector ring is fitted in parallel on an insulating ring that is fitted and fixed to the rotating shaft, and a current collector ring is attached to the strain-generating portion so that its sensing direction matches an angle at which torque can be detected. - Strain gauges whose output ends are each electrically connected to the current collecting ring, and a brush whose base end is fixed to a brush stand fixed to a stationary part and whose tip extends in the tangential direction of and comes into contact with the current collecting ring. A muscle strength training measurement device according to claim 1, comprising: (6) At least the speed increasing means, the torque detecting means, the braking means, the rotational force connecting means, the decelerating means, the electric drive means, the rotational speed detecting means, and the angle detecting means are housed and held in a housing having a relatively large weight. 2. The muscular strength training measuring device according to claim 1, wherein the casing has at least three leg rings at its bottom and is movably constructed.