JPS63135168A - Rehabilitation support 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 TECHNICAL FIELD The present invention relates to a rehabilitation support device used for restoring the function of limbs such as upper limbs or lower limbs that have decreased muscle strength.

1! BACKGROUND TECHNOLOGY In typical prior art, programs and patterns necessary for training are input and stored in means for swinging and controlling the arm to which the limb whose function is to be restored is attached.
With this, the system is configured to automatically perform rehabilitation operations and record training data. Such prior art is convenient from a physician's standpoint.

Problems to be Solved by the Invention On the other hand, for patients undergoing training treatment, rehabilitation movements are relatively monotonous a-turn movements, which are sometimes painful. Therefore, strong treatment efforts on the part of the patient are required. Therefore, in order to encourage patients to make treatment efforts, it was necessary for a doctor or other person to be close to the patient and verbally encourage the patient undergoing training treatment.

An object of the present invention is to provide a rehabilitation support V device that allows patients undergoing rehabilitation training treatment to be automatically encouraged and enjoy rehabilitation.

Means for Solving the Problems The present invention provides an exercise mechanism to which a limb whose function is to be restored is attached and operates, and an audio system provided in connection with the exercise mechanism to encourage a patient undergoing training treatment. v
This is a rehabilitation support device for patients with f symptoms.

In a preferred embodiment, the exercise program performs at least one of isotonic exercise, isometric exercise, isokinetic exercise, and joint range of motion training.

In a further preferred embodiment, treatment of patients undergoing training therapy 5! It is characterized by comprising a visual display means for displaying the details.

According to the present invention, the patient's limbs are moved by the movement mechanism to perform the training treatment. A sound is generated to the patient, which encourages the patient and allows him or her to enjoy the training treatment.

Example Figure Pt51 is a block diagram of an embodiment of the present invention.

In order to restore the function of a limb whose muscle strength has decreased and joint movement has deteriorated, the virility support device according to the present invention is implemented. The patient's upper or lower limbs are attached to the end 2 of the arm 1. The base end 3 of this arm 1 is fixed to a rotating shaft 4 having a horizontal axis. The servo motor 5 drives the rotating shaft 4 for reciprocating angular displacement. The angle of the arm 1 and the rotation speed of the rotation shaft 4 are detected by a rotation angle and speed detector 7. Arm 11 Force detector 8
is attached, and the force acting on the arm 1 can be detected. The force detected by force detector 8 is
Corresponds to the torque that acts on the limbs. The rotation angle and speed detection "a7" and the outputs from the deer detector 8 are given to a processing circuit 9, which controls the servo motor 5.The input means 10 gives signals to the processing circuit 9. In this way, the limb whose function is to be restored by the swinging angular displacement of the arm 1 can perform isotonic movement, isometric movement, isokinetic movement and joint range of motion training.

Isotonic exercise is training that involves movement of joints,
The action is like pulling up a weight, and the load on the muscles is a constant value depending on the weight of the weight. Isometric exercise means isometric contractions of muscles, that is, contractions that do not cause any displacement in length, and repeating this training will help increase muscle strength.This isometric exercise involves movement of the joints. This corresponds to the action of pushing against a wall or holding a weight. Uniform motion can be thought of as adding joint movement to isometric motion, and its speed is constant.
It corresponds to the action of pushing a wall that moves at a constant speed while keeping your body in a fixed position. Joint range of motion training is training for moving joints that have become difficult to move, and is an exercise in which the joints are moved at a constant slow speed, for example, 1 to 2 degrees/sec. In order to perform these and other exercises, the processing circuit 9 drives and controls the arm 1 to which the limb is attached by means of a servo motor 5. The input means 10 is operated by a doctor, therapist, etc. to select the type and control of each exercise. A display means 20 is connected to the processing circuit 9 .

From the processing circuit 9 to the voice code selection circuit 11, a training mode signal and a torque signal are sent. ! A signal is given. The training mode signal is a signal representing any one of the training modes in which the training treatment is being performed, that is, isotonic exercise, isometric exercise, isokinetic exercise, joint range of motion exercise, etc. 6 The torque signal is transmitted to arm 1. The position signal is a signal representing the acting torque, and the position signal is a signal representing the angular displacement position of the arm 1.The output from the audio code selection circuit 11 is connected to the input/output interface of the audio output device 13 via a line 12. The signal is input to the processing circuit 15 via 14. The output from the input/output interface 7/8 14 is given to a speech synthesis circuit 16 realized by a PA integrated circuit, the output thereof is amplified by an amplifier 17, and a speaker 18 generates speech to the patient.

A read-only memory 19 that stores speech patterns of, for example, 92 words is connected to the speech synthesis circuit 16, and a speech signal is generated from the speech synthesis circuit 1G to the amplifier 17 based on the stored contents. This read-only memory 19 is realized by a so-called EP ROM or the like in which a program can be erased and rewritten.

The operation will be explained with reference to FIG. Moving from step n1 to step n2, at the start of each training mode,
Referring to the previous healing history of the patient receiving mII training treatment, the voice synthesis circuit 1G said from the speaker 18, ``He has recovered to A% of his normal state.

Today, let's be careful about B and do our best.'' occurs. The above-mentioned A contains a numerical value, and B contains matters that the patient should pay attention to during training treatment.

In step n3, it is determined whether or not an isotonic movement is to be performed, and if so, the arm 1 is drive-controlled for the isotonic movement in step n4.

In step n5, it is determined whether the speed at which the patient's arm moves exceeds, for example, 80% of a predetermined setting value. , exceeds 80%, the process moves to step nIO. If it does not exceed 80%, the process moves to step n6, and if it is less than 80%, that is, the patient's arm movement speed is 80% of the set value.
If it is less than %, the process moves to step n7, and the voice synthesis circuit 16 uses the speaker 18 to audibly warn, "The faster you go, the faster you go." When equal to 80%, step n
6, go to step n8, move to step n9,
A voice warns, "Go a little faster."

In step nlo it is determined whether an isometric movement is to be performed and if so moving to step nll;
The arm 1 is driven by a servo motor 5 for isometric movement.

In step n12, it is determined whether the strength of the patient's limb during therapeutic training has begun to decline. That is, as shown in FIG. 3, it is assumed that the torque applied from the limb to the arm 1 at the first time is represented by waveform p1 in FIG. 3, and at the second time it is represented by waveform p2. The average value No. 1 of the torque during the first training is calculated, and this is set as the set value for the second training, and the average value No. 2 during the second training is calculated. In the second time, if the set value No. 1 is less than the average value 12 of the second time, the voice synthesis circuit 16 uses the speaker 18 to tell the patient to "try a little harder" in step n13. Encourage. In this way, the average value set in the previous training is set as the current setting value, and when the current setting value is lower than the current setting value, encouragement is given to the patient by voice.

If the current average value is greater than or equal to the previous average value, that is, the current set value, the process moves from step n12 to step n14. In step n14, 7-m1
It is determined whether the torque acting on the vehicle has become less than a predetermined value, for example, 50% of the maximum torque, and if so, in step n15 a voice is given to encourage the driver to "try harder." In this state, as shown in Fig. 4, at time t1 when the zero isometric motion becomes less than 50% of the maximum torque A voice saying "Good luck" is generated.

In step nlG, it is determined that the uniform motion is to be repeated, and the process is executed in step n17. At this time, the process moves to step nj8, where it is determined whether the generated torque is small, that is, whether the average torque value for one cycle is less than a predetermined set value, and if so, step nj8 is performed.
At 19, let's try harder.

] is generated. The torque setting in step 118 is determined by the doctor based on the previous Iff performance recovery situation. For example, the generated torque is set to be 10% higher than the aforementioned set torque, and this is determined as today's set torque. In step n20, it is determined that the training is over, and a voice says, ``Today's training is over.1st!I11 m
So let's pay attention to C and practice. ” occurs. The above-mentioned C includes, for example, "Training 1 in which the arm is moved quickly when holding it.In step n21, the training motion is ended.

As another embodiment of the present invention, when a patient tries to cut corners during isotonic exercise, that is, when the speed of arm movement decreases, a voice message saying, ``Let's try to move a little faster.'' You can encourage them by doing so.

Further, as shown in FIG. 5, when the arm 1 reaches a predetermined angle θ1 during joint range of motion training, a large torque is required to angularly displace the arm 1 by the limbs beyond that point. Therefore, in the range of the angle θ2 of the arm 1 until the torque applied to the arm 1 by the patient reaches a predetermined value T1 at an angle θ2, the speaker 18 generates a voice saying "It hurts a little, but let's do our best." To encourage patients and enable them to enjoy training.

The processing circuit 9 stores the patient's treatment history.
The contents are displayed on display means 20 such as a cathode ray tube so that they can be understood at a glance. This display means 20 displays the degree of recovery from the start of treatment to the present, the comparison with the normal state, and the expected date of discharge, so that the patient's recovery status can be seen at a glance, making it visually appealing. By doing so, the patient can enjoy and be encouraged to perform rehabilitation movements. This is how rehabilitation works! 4! ! Compared to the prior art, which uses ILJ creation and command-based therapeutic training, the above-described embodiments can improve therapeutic effects through human-machine interaction.

Furthermore, the display means 20 may display images of how to train, etc.

Effects As described above, according to the present invention, a patient receiving rehabilitation training treatment is automatically enabled to enjoy the rehabilitation treatment while being encouraged by the sound. Therefore, as described in connection with the prior art described above, there is no need for a doctor or the like to be near the patient, which is advantageous.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of one embodiment of the present invention, and FIG. 2 is a block diagram of an embodiment of the present invention.
70-Chart for explaining the operation of the embodiment shown in the figure, FIG. 3 shows step n12 during isometric exercise.
FIG. 4 is a diagram for explaining the operation of step n14 during isometric exercise.
The figure is a diagram for explaining another embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Arm, 5... Servo motor, 8... Force detector, 9.15... Processing circuit, 10... Input means,
11...Sound hood selection circuit, 13...Speech generator, 14...Input/output ink 7-eighth, 1G...Speech synthesis circuit, 18...Speaker agent, patent attorney, number of strokes Kei Partial procedural amendment April 17, 1988, Machite 61-283951, Name of the invention Rehabilitation Support Device 3, Relationship with the person making the amendment case, Applicant address name (097) Kawasaki Heavy Industries Co., Ltd. Representative 4, Agent address 1-13-38 Nishihonmachi, Nishi-ku, Osaka Shinko Sangbu Building Country Equipment EX 0525-5985 INTAPT
J International FAX GIlI&Gn (06)538-
0'2476, Claims column of the specification subject to amendment, Detailed Description of the Invention and Brief Description of Drawings column, and Drawing 7, Contents of the amendment (1) The claims are as shown in the attached sheet. . (2) In the 11th line of page 3 of the specification, the phrase ``generate a sound of encouragement'' is corrected to ``encourage''. (3) Lines 18 to 20 of page 3 of the specification fpJ are corrected as follows. Another preferred embodiment is characterized in that the encouraging means is a means for generating sound to encourage the patient. In a further preferred embodiment, said encouraging means comprises:
The present invention is characterized by being a visual display means for displaying the treatment progress of a patient undergoing training treatment. (4) Correct lines 2 to 7 of page 4 of Book II of Ming Dynasty as follows. According to the present invention, the patient's limb whose function is to be restored is attached to an exercise mechanism and operated, thereby performing training treatments such as isotonic exercise, isometric exercise, isokinetic exercise and V-joint range of motion exercise. will be carried out. During this training treatment, when the speed or force etc. of the limb attached to the movement mechanism decreases, the patient is encouraged by the means provided in connection with the movement mechanism. This encouragement is
For example, it can be done by voice, or even the patient's treatment! This is done by displaying the details on a visual display means. Therefore, the patient undergoing training treatment is encouraged and can enjoy the training treatment, and there is no need for a doctor or the like to be near the patient to verbally encourage the patient. (5) In the second line of page 10 of the specification, the phrase "try your best" is corrected to "try your best." (6) Add the following sentence between page 12 of the specification, line 12, date and line 13. In the embodiment described above, step n5t port G in FIG.
The 80% discrimination level shown in step n8 and the 50% discrimination level shown in step 1114 are changed as appropriate depending on the condition of the patient undergoing training treatment and set to appropriate values. be able to. As a further embodiment of the present invention, for example, during isotonic exercise training, the arm 1 to which the limb is attached may be
A case will be described in which the speed at which the vehicle moves follows the course indicated by reference numeral 19 in FIG. Regarding the speed acting on arm 1 during isotonic training, 80% of the normal speed is defined as the first discrimination level No. 3, and 50% of the normal speed is the second discrimination level! 4. During the operation of the processing circuit 9 shown in FIG.
If it is determined that the mode is the isotonic exercise mode in step 1, the isotonic exercise is started at time 10 in FIG. 6 in the next step m2. undergoing training treatment. Person Φ moves 7-me 1 at the speed indicated by line 19 in FIG. During this training treatment, at time tll the speed was less than 80% of normal, that is, at the first discrimination level! If it becomes less than 3, the process moves from step m3 to step 14. 7-Mom 1's speed is normal 5 in step 14
0% or more, that is, the second discrimination level! If it is 4 or more,
In step m5, the speech synthesis circuit 16
The patient is warned by voice, ``Be quick!'' This causes the patient to increase the speed at which they move their arm. After that, in step m6, it is determined whether the patient's arm movement speed has increased and is less than the first discrimination level No. 3, which is 80% of the normal speed. ” and time L
121 Be careful. The patient's arm movement speed is less than 50% of normal, that is, the second discrimination level! If it is less than 4, step v
Move from a4 to step 18, and at time t13, be careful so that you can see that the speed is "faster and faster" and is much lower than normal, so you can see that the speed must be greatly improved. do. In step 16, even though the patient was encouraged by the voice saying "Move faster", the speed of the arm did not increase and the first discrimination level was 80% of normal! If it is less than 3, step l119 to step l1
Moving on to step 18, a voice warning is given, ``Be fast!'' In this way, it is possible to set a plurality of discrimination levels 13.74 below the normal value during the treatment operation, encourage the patient with individual content below the discrimination level, and perform detailed training treatment. Such movements can be performed not only in isotonic exercises but also in isometric exercises, isokinetic exercises, and joint range of motion exercises. As a further embodiment of the present invention, the audio information generated during each training treatment of isotonic exercise, isometric exercise, isokinetic exercise, and joint range of motion training may be set as shown in Table 1, for example. good. Table 1 As another embodiment of the present invention, when the training treatment needs to be stopped urgently, the patient makes a voice saying "Please stop" and the microphone installed in the processing circuit 9 is activated. This audio is received and the processing circuit 9
stops the operation of the servo-electric FI5 and cancels the training treatment, and at the same time, the sound generator 13 generates a sound saying "Stop" from the speaker 8. In this way, safety can be improved. (7) The phrase "by voice" on page 12, line 15 of the specification is deleted. (8) Line 7 of page 13 of the specification is corrected as follows. Figure f:tS6 is a diagram for explaining the operation of another embodiment of the present invention during isotonic exercise, and Figure 7 is a diagram for explaining the example described in relation to Figure 6. 70-chart for explaining example operation; (9) Figure 2 of the drawings shall be corrected as shown in the attached sheet. (10) Figures 6 and 7 of the drawings shall be supplemented as attached. Claims (1) An exercise machine 45 to which a limb to be restored is attached and operated, and a means provided in connection with the exercise R mechanism to encourage a patient undergoing training treatment. A rehabilitation support device comprising: (2) A claim characterized in that the exercise mechanism performs a movement for one or less of isotonic exercise, isometric exercise, isokinetic exercise, and Mffli range of motion training!
! [+Rehabilitation support device described in Section 1. (3) Claim 1, characterized in that the encouraging means is means for generating sound to encourage the patient.
Rehabilitation support device as described in section. (4) The rehabilitation support device described in Patent a* *, [fjS1], wherein the encouraging means is a visual display means for displaying the medical history of a patient undergoing training treatment. @Entertainment Figure 7

Claims (3)

[Claims] (1) A motion mechanism to which a limb whose function is to be restored is attached and operates, and a means provided in connection with the motion mechanism for generating a sound to encourage a patient undergoing training treatment. rehabilitation support equipment. (2) The rehabilitation according to claim 1, wherein the exercise mechanism performs an operation for at least one of isotonic exercise, isometric exercise, isokinetic exercise, and joint range of motion training. Support equipment. (3) The rehabilitation support device according to claim 1, further comprising a visual display means for displaying the progress of healing of a patient undergoing training treatment.