WO2001043829A1

WO2001043829A1 - Lower limbs motion generating exercise training device

Info

Publication number: WO2001043829A1
Application number: PCT/JP2000/003978
Authority: WO
Inventors: Shigeo Takizawa
Original assignee: Shigeo Takizawa
Priority date: 1999-12-16
Filing date: 2000-06-16
Publication date: 2001-06-21
Also published as: AU5427600A

Abstract

A lower limbs motion generating exercise training device for a motion generating exercise, which is capable of preventing a drop-foot contracture caused by an after-trouble of a cerebrovascular disorder, or restricting the appearance of a convulsion in a patient suffering from a drop-foot contracture by properly utilizing the reciprocal innervation of a motion muscle and an antagonistic muscle and an inhibitory mechanism, and which comprises a feet resting sheet (1) for receiving feet, a heel holding unit (4) and a holding means (3) for stably setting an unaffected foot and an affected foot on the feet resting sheet, and a frame body (5), inside of which are provided a setting sheet (8) having wheels (10) at the bottom surface thereof and vertically movably supported by the frame body, a hinge (11a) on which the feet resting sheet and one side of the frame body turns about a swing shaft (11), a loading device (9) for energizing the foot resting sheet and the setting sheet in opening directions, and setting sheet shifting holes (7a, 7b, 7c, 7d) and setting sheet holding holes (6a, 6b) for installing a stabilizing device (20) and a fixing device (21) used to install the wheel-carrying setting sheet (8), whereby the training device can be used independently by patients safely and at ease, prevent or improve a drop-feet contracture, and expand a joint excursion.

Description

Description Lower limb motor training device Technical field

The present invention relates to the prevention of equinus contracture caused by the sequelae of cerebrovascular disorder or the presence of equinus contracture, the decrease in muscle strength of lower limb muscles, and the functional impairment of the range of motion of lower limb joints. Can be replaced by passive exercise by a physiotherapist, which was performed to improve equinus contracture and extend the range of motion for patients with this disease. The present invention relates to a lower limb function training device for an exercise exercise which can give an appropriate and necessary stimulus to suppress the appearance of spasticity by causing the affected side to passively move by the exercise of the unaffected lower limb by the patient. Background art

If you have lower limb muscle strength due to hemiplegia, rupture of Achilles tendon, etc. after a stroke, or impairment of the range of motion of lower limb joints or knee joints due to lower limb fractures, etc., leave these obstacles as they are. In some cases, the joints of the feet or knees contracted, resulting in chronic leg dysfunction. Therefore, training or exercise for recovery from these dysfunctions is required.

In addition, as a device for performing function recovery exercises or training using the plantar flexion and dorsiflexion of a person with a muscular strength who can sit in a chair with his / her own strength, utility model registration No. 2004587 No. There was a flexor. In addition, as a tool for performing a function recovery exercise or training for a disabled person with muscular strength capable of sitting on a chair by himself or herself, there was a lower limb function training device of Design Registration No. 997739.

Another conventional example is to assist the walking of persons with disabilities, such as lower limb muscle strength and lower limb nerves, that have recovered to the extent that walking is possible with assisted walking. A support shelf standing upright so as to surround the side surface, and below the support shelf There is a medical walker with a structure in which several cassettes are attached to the surface so that they can move freely. Then, the disabled person walks in the cascade while walking with the upper body bent forward and supported by the support shelf, and walks independently or with the assistance of a helper. Exercise and training.

In addition, there are passive exercises by physiotherapists and electrical stimulation by doctors. However, it is difficult to perform passive exercises and electrical stimulation at any time at your own convenience, due to human problems. .

In addition, Japanese Patent Application No. 11-358206 and

There is PCT / JP99 / 07115. The footrest on which both feet are placed, as claimed in claim 9 of the applicant's patent application, can selectively reciprocate back and forth or swing up and down. There is a lower limb function training device characterized by the following. Similarly, in claim 13, a footrest plate on which both feet are placed and which can swing up and down, a contact sensor provided on an upper surface of the footrest plate, and a footrest placed on the footrest plate Means for obtaining data on the state of the joints of the foot, the foot joint data being obtained when the contact sensor 1 detects that the foot has simultaneously contacted four points on the footrest. There is a lower limb function training apparatus characterized in that the means obtains data on the condition of the ankle joint.

In a healthy state, the synapse of a-motor- neuron has a spasticity inhibitory mechanism called pre-synaptic inhibition, which is an inhibitory substance from the inhibitory neuron terminal just before the synapse where the la fiber connects to the α-fiber. Is thought to cause depolarization and block the transmission of impulses.However, when impulse from inhibitory neurons does not come due to disorders of the upper center, spasticity appears in succession Was considered. Regardless of cerebrovascular disorder or spinal cord injury, the acute phase is flaccid and spasticity is unlikely to form before a certain period. Until now, spasticity that has been seen even after passive exercises to improve equinus contracture and expand the range of motion of joints has been suppressed.Applying appropriate electrical stimulation from the synapse in advance suppresses spasticity. The idea of electrical stimulation has been attempted on the belief that it may be obtained. Thus, it is considered that the suppression of spasticity by appropriate stimulation is not delayed even after the appearance of spasticity, and this method, that is, the exercise movement, stimulates the working muscle and antagonist muscle alternately, as in electrical stimulation therapy. Given, Ia fiber inhibits just before the synapse leading to α-fiber.Suppressing substance from the end of neuron not only suppresses spasticity, but also successfully exerts reciprocal innervation and inhibitory mechanism of action and antagonist muscles. It is thought that spasticity can be suppressed by utilizing the present invention, and the present invention is an invention that realizes this lower limb movement with a single instrument. Disclosure of the invention

The lower limb motor exercise training device of the present invention comprises: a footrest plate (1) on which both feet are placed; and a heel holding part (4) for stably placing the unaffected side and the affected side foot on the footrest plate. And a holding means (3); the frame body for holding an installation plate (8) having wheels (10) on its lower surface so as to be able to move up and down freely inside the frame body (5); A hinge (11a) having one side of the frame body as a swing axis (11), a load device (9) for urging the footrest plate and the installation plate in an opening direction, and a wheel. Mounting plate moving holes (7a, 7b, 7c, 7d) for installing the stabilizer (20) and the fixing device (21) that can stably install the installed mounting plate (10) Plate holding holes (6a, 6b) are provided.

There is a case where a load device that urges the footrest plate and the frame body in the opening direction from the outside of the frame body is provided, and the load device is urged in the opening direction. There may be a drive (50) that moves the installation plate up and down within the frame. In some cases, the frame and the installation plate are integrated. The wheel may have a brake structure (220). In addition, a contact sensor (51a, 51b, 51c, 51d, 51e, 51f) provided on the upper surface of the footrest plate is provided. In some cases, it may be possible to detect simultaneous contact with points corresponding to the side of the toe and the side of the toe. When the contact sensor detects that the foot has simultaneously contacted the points corresponding to the heel of the footrest, the side of the toe, and the side of the toe, the contact sensor outputs an external signal. It may have a signal output device (52) that outputs to To the signal of the signal output device The ankle data acquisition means (53), which has started to be used, may obtain data on the state of the ankle. In some cases, a contact sensor (70) is provided for detecting that the footrest on which both feet are placed has come into contact with the frame. Then, a control device (71) comprising a microcomputer or the like for measuring the number of detections by the contact sensor or the like for detecting that the footrest plate has come into contact with the frame body every time the both feet are mounted and provided is provided. In some cases. Further, the lower limb motor exercise training device may output the detection data of the control device to the outside.

The contact sensors (51a, 51b, 51c, 5Id, 51e, 51f) provided on the upper surface of the footrest plate and this contact sensor (70) are When it is detected that the footrest on which both feet are placed has contacted the frame without contacting the six points of the contact sensors provided on the upper surface of the board, the installation board is moved downward in the frame. The driving device (50) may be driven. Then, the contact sensor (5 1) provided on the upper surface of the footrest plate and the contact sensor 1 (70) are not contacted by the six points of the contact sensor provided on the upper surface of the footrest plate. The brake of the wheel may be released when it is detected that the placed footrest plate has contacted the frame. In some cases, the footrest on which both feet are placed can reciprocate back and forth after swinging downward. In some cases, the present invention is incorporated into a pet robot or the like. In this specification, the front and rear and left and right directions of the lower limb function training device are set in the same directions as the front and rear and left and right directions of the patient using the lower limb function training device.

FIG. 1 is a side view of the lower limb function training apparatus according to the first embodiment in the state of use at the time of exercise by forward and backward movement. FIG. 2 is a front view of the first embodiment of the lower limb function training apparatus in a state of use during exercise by swinging of a footrest plate. FIG. 3 is a perspective view of the first embodiment of the lower limb function training apparatus in a state of use during exercise by swinging of a footrest plate. Fig. 4 is a bottom view of the first embodiment of the lower limb function training apparatus in a state of use at the time of exercise by swinging the footrest plate. Fig. 5 shows the first form of the lower limb function training device during It is a bottom view in a use situation. FIG. 6 is a front view of the lower limb function training apparatus according to the first embodiment in the state of use during exercise due to forward and backward movement of the footrest plate. FIG. 7 is a side view of the second embodiment in the state of use at the time of exercising with forward and backward movements. FIG. 8 is a plan view of a usage state at the time of exercise by swinging the footrest plate of the second embodiment. FIG. 9 is a rear view of the second embodiment in the state of use at the time of exercise by back and forth movement. FIG. 10 is a control circuit diagram of the second embodiment. Fig. 11 shows that in the second embodiment, the user put his foot on the footrest and touched the contact sensor provided on the upper surface of the footrest in order to obtain an instantaneous view of the state of the foot joint. This is a flowchart until the information is output. FIG. 12 is a reference diagram of another embodiment for obtaining the same effect. BEST MODE FOR CARRYING OUT THE INVENTION

Next, a first embodiment of the lower limb function training apparatus according to the present invention will be described with reference to FIGS. The footrest 1 is made of wood (or plastic as required) and is formed in a substantially rectangular plane. It may be hollow. The footrest 1 has an area large enough to hold both feet lw and ly (for example, about 25 cm long and about 20 cm wide). Therefore, a person with a disability, while sitting in a chair or the like, suffers from hemiplegia of lower limb nerves, lowering of lower limb muscle strength due to rupture of the Achilles tendon, or an obstacle such as a broken joint or a range of motion of the knee joint or knee joint. Both legs lw and ly of the other leg ly, which is healthy without obstacles, can be placed. Although lw and ly indicate the footprints, the placed two feet lw and ly are omitted. In order to fix both feet on the footrest 1, the heel should be locked to the heel support part 4 and the toe should be locked by the tightening band of the holding means 3. Both feet can be aligned with the upper surface of the footrest plate 1 corresponding to the small size, and can be easily set and fixed. In order to prevent the healthy foot from overloading the other impaired foot by overloading it, gradually apply force while controlling its own movement according to the degree of the obstacle, and lift the footrest 1 as shown in Fig. 1. Move the footrest 1 back and forth in the direction indicated by arrows a-a ', and swing the footrest 1 in the direction indicated by arrow b in Fig. 2 to perform pseudo-passive movement of the affected lower limb, movement of the ankle joint Muscle luck on the healthy side Performs movement, that is, movement. A non-slip portion may be provided on the upper surface of the footrest plate 1 as needed. The non-slip is formed, for example, by bonding a rubber sheet having a plurality of irregularities.If the footrest plate 1 is made of plastic or the like, it is formed integrally with the upper surface of the footrest plate 1. Is also good. It may be formed integrally with the contact sensor.

The heel support part 4 is formed of, for example, a belt-like material such as plastic, leather, cloth, or the like, has a substantially C-shape in plan view, and is fixed to the upper surface of the rear portion of the footrest 1 with nails, mounting screws, or the like. When the two feet lw, ly are placed on the upper surface of the footrest plate 1 in parallel, the rearward movement of the heels of the two feet lw, 1y is prevented. Note that the heel support component 4 may be formed integrally with the footrest plate 1 when the footrest plate 1 is formed of plastic. Further, in this embodiment, the heel is formed of a belt-like material, but any structure may be used as long as the heel can be prevented from moving backward. In the present embodiment, the heel support part 4 is screwed at the mounting piece part by the mounting piece part of the heel support part 4 and the screw 4a. In addition, a left and right ends of the holding means 3 for both feet are fixed to the footrest plate 1 at a distance from the heel support part 4 forward and at a substantially central position in the longitudinal direction of the footrest plate 1. It is provided using a tightening band. The tightening band as the holding means 3 is fixed to the side surface of the footrest plate 1 by using a mounting bracket 3 a, and both ends thereof extend above the footrest plate 1. Although not shown, the right and left ends of the tightening band as the holding means 3 are overlapped with each other, and are removably engaged by appropriate engaging means such as velvet fasteners, snaps, and hooks. The tightening band as the holding means 3 may be constituted by a single tightening band, or may be configured to cover the foot. In addition, at a distance from the heel support part 4 to the front and at a substantially central position in the longitudinal direction of the footrest 1, a holding means 3 for both feet is fixed to the left and right ends of the footrest 1. It is provided by using a tightening band. The fastening band as the holding means 3 is fixed to the side surface of the footrest plate 1 by using a mounting bracket 3 a, and both end portions extend above the footrest plate 1. Although not shown, the right and left ends of the tightening band as the holding means 3 are overlapped with each other, and It is detachably engaged by appropriate engaging means such as rubettes, fasteners, snaps, and hooks. The tightening band serving as the holding means 3 may be constituted by a single tightening band, or may be configured to cover the foot.

The holding means 3 covers the insteps of the feet l \ v and ly from above, and prevents the feet lw and ly from moving upward and forward. The heel support part 4 and the holding means 3 hold both feet lw and ly on the footrest plate 1, but they may not be used depending on the condition of the patient.

In addition, as long as the holding means 3 and the heel support part 4 can hold both feet lw and ly placed on the footrest plate 1, their structures and materials can be changed as appropriate. . Further, when the patient recovers and the two legs are each put into force, the holding means 3 and the heel support component 4 for these legs may not be necessary.

Holding holes 2 for holding the fixing device 21 so as to be able to be inserted therein are formed at two places in the left and right sides of the front part of the footrest plate 1 and substantially at the center in the vertical direction.

Hinges 11a, each having a swing axis 11 as a swing center, are provided between the upper surface of the frame and the lower left and right sides of the rear portion of the footrest plate 1 respectively. A load device 9 using a spring material interposed between the footrest plate 1 and the installation plate 8 is provided substantially below the center. Although no particular description is given of the spring material, any fixing means such as glue, screws, and nails may be used, and in this embodiment, the material is glued. The load device 9 using a spring material has a panel pressure that swings downward at a pressure of about 4 kg. The load device 9 uses a coil spring made of steel, but the load device is not limited to this panel, and any load device may be used as long as it can bias the footrest plate 1 in the opening direction.

In this embodiment, it is installed inside, but the load device may be urged from the outside with a rubber material or the like. In such a case, it is possible to provide a pillar on the frame 5 and urge it from above the pillar.

The fixing device 21 is provided so that the wheels 10 of the caster structure provided on the installation plate 8 can be stably grounded on the moving surface Q when the footrest plate 1 moves back and forth together with the frame 5. The fixing device 21 is made of a substantially U-shaped iron plate, and has a holding hole 2 and a mounting plate holding plate. It is used by inserting the U-shaped part of the fixing device 21 into the holding hole 6a. When the fixing device 21 is not used, the foot plate 1 is urged in the opening direction by the pressure of the load device 9. When the footrest plate 1 is urged in the opening direction and swings accordingly, the installation plate 8 moves up and down. As the mounting plate 8 moves up and down, the wheels 10 move up and down, and the moving surface Q cannot stably contact the ground, making it unsuitable for the starting movement. The inconvenience is solved by providing the fixing device 21. In this embodiment, the fixing device 21 is inserted and used. However, it is possible to stably secure the installation plate 8 by providing a lock mechanism or the like.

The frame 5 may be formed by arranging wooden boards at the front, rear, left and right, and forming a hollow body at the center. The frame 5 may be integrally formed with plastic or the like, or the frame may be formed to have a hollow structure. . The four sides have the same size as the footrest 1 (for example, about 25 cm in length and about 20 cm in width). The width of one side is such that the cube can have a strong structure (for example, about 1 cm). In the present embodiment, four plates are stuck together and the front and rear surfaces are decoratively finished so as to draw a smooth curve, but this is not always necessary. The height is a height (for example, about 5 cm) at which the wheel 10 can be completely housed and the load device 9 can be housed in a compressed state. An installation plate 8 is provided in the center hollow part so as to be movable up and down.

The frame 5 is provided with mounting plate moving holes 7a, 7b, 7c, 7d of the same size on the left and right sides, respectively, so that the mounting plate 8 can be stably moved up and down freely. The frame 5 has an installation plate holding hole 6 on the front surface of the frame 5 so that the installation plate 8 can be stably stopped at a desired position when the footrest 1 selectively moves back and forth or swings. a, Installation plate holding holes 6b are provided on the rear surface of the frame 5.

The installation plate 8 is made of a wooden plate and has a size capable of freely moving up and down in the frame 5, and may include a load device 9 for urging the footrest plate 1 and the installation plate in the opening direction. It is about 1 cm thick.

The mounting plate 8 is provided with four moving holding screws 8a on the left and right so as to be able to move stably when moving up and down inside the frame 5. The four moving holding screws 8a are provided through the mounting plate moving holes 7a, 7b, 7c, 7d of the frame 5 respectively. Installation plate 8 is shown in Figure 3. In the case where the vertical swing motion, that is, the plantar flexion and dorsiflexion motion of the foot is performed as the activating motion by using the load device 9 between the footrest plate 1 and the footrest plate 1, It is located on the lower surface of 8 and penetrates the mounting plate holding hole 6a on the front of the frame 5 and the mounting plate holding hole 6b on the back of the frame 5, and the stabilizer 20 that sufficiently supports the pressure accompanying the vertical movement, Stable in upper position. The stabilizer 20 is made of a stainless steel plate, and has a grip portion 20a and a holding hole 20b. The stabilizer 20 may be made of any material such as iron or plastic that can secure the stability of the installation plate 8. The case of the installation plate 8 having a pressure driving device may be omitted. The grip portion 20a is a portion that has been machined so that it can be easily gripped, and may have any structure as long as it has a thickness that does not come out when inserted. In this embodiment, the stabilizer 20 has a thickness of about 2 mm, and the grip 20a has a thickness of about 4 mm. The holding hole 20 b functions as a retaining member using the U-shaped screw 22. Any method is possible as long as training can be carried out stably when using the moss [J], such as fixing it with a hook instead of inserting a screw into the hole. Next, a second embodiment will be described with reference to FIGS. 7 to 11. FIG.

The footrest 101 is formed of wood (or plastic as required) in a substantially rectangular plane. It may be hollow. This footrest 101 is similar to the footrest shown in the first embodiment. The footrest plate 101 has an area large enough to hold both feet (for example, a size of about 25 cm in length and about 20 cm in width). Therefore, a person with a disability may suffer from hemiplegia of the lower limb nerve, loss of lower limb muscular strength due to a rupture of the Achilles tendon, and impaired range of motion of the ankle or knee joint due to a fracture, etc., while sitting in a chair or the like. Both feet can be placed on one foot and the other without any obstacles.

Also, in order to fix both feet to the footrest plate 101, it is sufficient to lock the heel to the heel support part 104 and lock the toe to the fastening band of the holding means 103. According to the size of the foot of the handicapped, both feet can be aligned on the upper surface of the footrest plate 101 and set easily. A healthy foot can be overly burdensome with the help of another disabled foot. In order not to be injured, gradually apply force while controlling their own movement according to the degree of the obstacle to move the footrest plate 101 back and forth, and swing the footrest plate 101 to and Pseudo-passive movement of the lower limb, movement of the ankle joint in the range of motion, and muscle movement on the unaffected side, that is, exercise movement

A non-slip portion may be provided on the upper surface of the footrest plate 101 as necessary. The non-slip is formed, for example, by bonding a rubber sheet or the like having a plurality of irregularities. If the footrest plate 101 is made of plastic or the like, it is integrally formed on the upper surface of the footrest plate 101. May be formed. It may be formed integrally with the contact sensor 51 (a, b, c, d, e, f).

The contact sensors 51a, 51b, and 51c are connected by an information transmission and power path 49, and the contact sensors 51d, 51e, and 51f are connected by an information transmission and power path 49. If the contact sensors 51a, 51b, 51c, 51d, 51e, and 51f simultaneously detect contact, a signal is output from the signal output device 52. In this embodiment, the signal output device 52 is an antenna, and the signal output device 52 transmits a wireless signal. In the present embodiment, the signal input / output device 54 is also provided, and it is also possible to output by wire.

The ankle data obtaining means 53 collects data on the state of the ankle joint based on the signal from the signal output device 52. In this embodiment, the ankle joint data obtaining means 53 is an artificial retinal camera. In this embodiment, the lower extremity exercise exercise training device is located away from the lower extremity exercise exercise training device and at a position where the side looks at the lower extremity exercise exercise training device. A room for placing the lower extremity exercise training device can be provided, and a camera can be installed on the side wall. A simple partition can be provided, and a camera can be installed on the side partition wall. When using an artificial retinal force cell, it can be anywhere as long as the force cell is on the side.

The means for obtaining ankle data 53 is not limited to an artificial retinal camera, but may be any camera that can simultaneously capture a wide area and continuously detect captured data, such as a ccd camera or a video camera.

Also, the angle between the footrest plate 101 and the frame body 105 or the installation plate 108 can be detected. That is, the user's ankle joint at the time when the signal is output from the signal output device 52 Any means may be used as long as the angle can be detected. In the present embodiment, the footrest plate 101 is installed facing upward at an angle of 37.5 degrees, but a healthy foot comes into contact with all sensors at the same time when placed. However, a contracted foot cannot touch at the same time. In the case of an exercising motion in which an oscillating axis is provided and the ankle joint is oscillated up and down based on the oscillating axis, the exercising exercise training device is effective for ankle plantar flexion from 37 degrees to about 0 degrees. Measuring the ankle plantar flexion angle of a healthy person in the range of 0 ° to 45 ° is not accurate using only an exercise training machine that has an oscillating axis and performs exercising with oscillating motion. In the present embodiment, if it is not possible to simultaneously touch all the sensors even after exceeding the limit of 37 degrees, the lowering plate 1 08 is lowered by moving the lowering switch of the driving device 50, and the wheel 110 is moved to the moving surface Q. So that it can be moved. In other words, even if the angle exceeds the limit of 37 degrees, detection from 37 degrees to 45 degrees is possible by adding the movement of the knee joint.

A contact sensor 70 is provided on the lower surface of the footrest 101. The contact sensor 170 sends a signal to the controller 71 when the foot plate 101 comes into contact with the frame 105, and the controller 71 calculates the number of times. The contact sensor 170 is connected to the information transmission and power path 49 by a transmission path 70a passing through a hole 49a passing through the footrest plate 101. The information obtained by the contact sensor 170 is stored in the control device 71. When the number of times specified by the information and power transmission path number specifying switch 83 has been reached, a signal is output from the signal output device 52. Further, a signal input / output device 54 is provided, and it is also possible to output a signal via a wire. The contact sensor 170 uses an accelerometer, and can transmit the number of times of acceleration detection to the control device 71 instead of the contact signal.

When the number of times specified by the number-of-times specifying switch 83 has been reached, it is possible to apply the signal output from the controller 71 to raise or lower the mounting plate 108 to apply a brake to the starting movement. is there. That is, in the case of back and forth movement, the wheels cannot be used due to the rise of the mounting plate 108. In the case of swinging up and down movement, the amount of bias decreases due to the lowering of the installation plate 108.

In the present embodiment, the wheels 110 are provided on the installation plate 108, and control is performed by moving the installation plate 108 up and down in the frame 105. However, the frame and the installation plate may be integrated. Special for wheels The same effect can be obtained if the sliding stabilizer is controlled by using Casu Yuu of No. 2979170. See Figure 12. It is the most suitable form when it is molded and used for pet robots because it can get over the steps in the Japanese house. If other braking devices are available, they can be used in other casings as well.

The heel support part 104 is made of, for example, a belt-like material such as plastic, leather, cloth, or the like, and has a substantially C-shape in plan view, and is attached to a rear upper surface of the footrest 101, nailed, or attached with screws. When the feet are aligned on the upper surface of the footrest plate 101, the feet are prevented from moving backwards. It should be noted that the heel support component 104 may be formed integrally with the footrest plate 101 when the footrest plate 101 is formed of plastic. In this embodiment, the heel is formed of a belt-like material, but any structure may be used as long as the heel can be prevented from moving backward. The control unit exterior 80 may be shaped so that it can support the heel.

In this embodiment, the heel support part 104 is screwed at the mounting piece part by the mounting piece part of the heel support part 104 and the screw 104a. The left and right ends of the footrest plate 101 are fixed to the footrest plate 101 at a distance from the heel support part 104 forward and substantially at the center of the footrest plate 101 in the longitudinal direction. Holding means 103 for both feet is provided using a fastening band. The tightening band serving as the holding means 103 is glued and fixed to the side surface of the footrest plate 101, and both ends extend upward of the footrest plate 101, respectively. Although not shown, the right and left ends of the tightening band, which is the holding means 103, are overlapped with each other and removably engaged by appropriate engaging means such as velvet fasteners, snaps, and hooks. The tightening band serving as the holding means 103 may be constituted by a single tightening band, or may be configured to cover the foot. The tightening band serving as the holding means 103 covers the insteps of both feet 1 from above, and prevents the feet from moving upward and forward. Both feet are held on the footrest plate 101 by the heel support member 104 and the tightening band serving as the holding means 103. However, it is possible that the foot may not be used depending on the condition of the patient. The holding means 103 and the heel support part 104 are held in a state in which both feet are placed on the footrest plate 101. If possible, the structure, material, etc. can be changed as appropriate. Further, when the patient recovers and the two legs are each exerted force, the holding means 103 and the heel supporting parts 104 for these legs may not be necessary.

Holding holes 102 for holding the fixing device 121 in two places are provided in the left and right sides of the front part of the footrest plate 101 and substantially at the center in the vertical direction. Hinges 111a, each having a swing axis 111 as a swing center, are provided on the lower left side of the rear portion of the footrest plate 101 between the upper surface of the frame and the hinge. A load device 109 utilizing a spring material interposed between the footrest plate 101 and the installation plate 108 is provided substantially below the center of the footrest plate 101. Although no particular description is given of the spring material, any fixing means such as glue, screws, and nails may be used, and in this embodiment, the material is glued. The load device 109 using spring material has a panel pressure that swings downward at a pressure of about 4 kg. The load device 109 uses a steel coil panel, but the load device is not limited to this panel and any load device may be used as long as it can urge the foot plate 101 in the opening direction. .

In this embodiment, it is installed inside, but the load device may be urged from the outside with a rubber material or the like. In that case, it is possible to provide a pillar on the frame 105 and urge it from above the pillar.

When the footrest plate 101 moves back and forth together with the frame 105, the anchoring device 1121 allows the wheels 110 of the caster structure provided on the installation plate 108 to stably contact the moving surface Q. It is provided so that it can be done. The fixing device 122 is made of a substantially U-shaped iron plate and is used by inserting the U-shaped portion of the fixing device 121 into the holding hole 102 and the holding hole 106. When the fixing device 121 is not used, the foot plate 101 is urged in the opening direction by the pressure of the load device 109. When the foot plate 101 is urged in the opening direction and swings accordingly, the mounting plate 108 may move up and down. The wheels 110 move up and down with the up and down movement of the mounting plate 108, and it is impossible to stably touch the moving surface Q without contact, and there is a possibility that the moving operation Q becomes unsuitable for the starting operation. The inconvenience is solved by providing the fixing device 122. In this embodiment, the fixing device 122 is inserted and used, but it is possible to stably secure the installation plate 108 by installing a lock mechanism or the like. Installation plate with drive unit 50 Since the securing of 108 is sufficiently stable, there is no necessity in this embodiment.

The frame 105 is a cube in which wooden boards are arranged in front, back, left and right, and the center is hollow, but it may be integrally formed of plastic or the like, and the frame is formed in a hollow structure. Is also good. The four sides have the same size as the footrest 101 (for example, about 25 cm in length and about 20 cm in width). The width of one side is such that the cube can have a strong structure (for example, about 1 cm). In this embodiment, four plates are laminated. The height is a height (for example, about 5 cm) in which the wheels 110 can be completely housed and the load device 109 can be housed in a compressed state. An installation plate 108 is provided in the central hollow portion so as to be movable up and down.

A control unit 80 is provided on the heel side. The control unit 80 is hollow, and is provided with a control device 71 and a power supply device 85. At the upper part of the control unit 80, a control unit piece 80a for accommodating two driving devices 50 is provided. An upper and lower selection switch 81 for selecting the position of the installation plate 108 is provided on the upper surface of the control unit piece 80a. On the upper surface of the control unit 80, a switch 82 for switching between the exercise training device and the angle inspection device is provided. A frequency specification switch 83 is provided on the upper surface of the control unit 80. The control unit 80 accommodates an installation plate piece 108 d in order to realize vertical movement of the installation plate 108. Four screw holes 108e are provided to penetrate the installation plate piece 108d. Rotation shafts, which are four power transmission devices 60 rotatably secured with the upper and lower portions of the control unit 80 as bearings, penetrate through the screw holes 108e. The rotating shaft, which is the power transmission device 60, is a driving force transmission device that rotates with the rotation of the two motor shafts 50a of the rotating units of the two driving devices 50 that are always driven in synchronization. The four shafts, which are four power transmission devices 60, penetrate through the four screw holes 108e formed in the installation plate piece 108d of the installation plate piece 108d. With the rotation of the rotary shaft, the installation plate piece 108 d, that is, the installation plate 108 moves up and down by the screw cut in the screw hole 108 e.

In this embodiment, a vertical movement mechanism using power transmission using a rotating shaft is used. However, only one motor may be used, and in the case of a driving mechanism using a rotating shaft or a chain, there is no limitation to four. A rotary shaft of books may be used, or hydraulic air pressure may be used. In other words, any drive mechanism may be used as long as the installation plate 108 can be moved up and down and can be stably secured. Although not shown in the present embodiment, the frame 105 and the control unit 80 are screwed. In addition, the contact portion between the control unit 80 and the power transmission device 60 has a bearing structure.

The control device 71 is configured by a microcomputer or the like, and can perform contact signal processing and receive signals from the acceleration sensor and perform similar processing. When the acceleration detecting device is used, the control device 71 counts each time an acceleration signal is input, and generates the number of reciprocating motions of the footrest 101.

When the acceleration detection device is used, the control device 71 may store the acceleration input from the acceleration detection device and the number of reciprocating movements of the footrest 101 as data in the storage unit, and output the data as needed. I can do it. It can also detect speed in one direction instead of acceleration, and use the speed and the number of times a new speed has occurred.

Furthermore, information processing that is normally performed can be performed by using a microcomputer.

In the present embodiment, the driving device 50 uses a motor every day. The two driving devices 50 are devices for vertically moving the installation plate 108, and in this embodiment, the rotation of the motor shafts 50a of the two driving devices 50 that are driven synchronously, A power transmission device 60 that rotates in a screw hole 108e formed in the threaded installation plate piece 108d, which is transmitted to the rotating shaft, and can be freely moved up and down with the rotation of the rotating shaft. Was used. The power supply 85 is a battery storage unit. It has a structure that can be opened and closed.

It also has an external power terminal 85a.

In the frame body 105, four installation plate moving holes 107 having the same size are provided on the left and right sides, respectively, so that the installation plate 108 can be stably moved up and down freely.

On the frame 105, the mounting plate 1 08 is stably moved to any required position and fixed to the control unit mounting side of the frame 105 so that it can be stopped. Provide a frame opening 105 z large enough to allow 8 d to move freely up and down. The mounting plate 108 is made of a wooden plate and has a size capable of freely moving up and down in the frame 105, and urges the footrest plate 101 and the mounting plate in the opening direction. It is a thickness (about lcm) in which the load device 109 can be provided. The mounting plate 108 is provided with four moving holding screws 108a on the left and right sides so as to be able to move stably when moving up and down in the frame 105. The four moving holding screws 108a are provided through the four installation plate moving holes 107 of the frame 105, respectively. In the case where the installation plate 1 08 uses the load device 109 between the footrest plate 101 and performs vertical swinging motion, that is, the plantar flexion and dorsiflexion motion of the foot as the exercising motion. In addition, the driving device 50 and the power transmission device 60 raise the power transmission device piece 108 d of the installation plate 108 to stabilize the upper position. In the present embodiment, the driving device 50 uses a motor, and the rotation of the rotating shaft 50 b of the motor 1 causes the rotation of the rotating shaft, which is the power transmission device 60, to transmit the power of the installation plate 108. Raise and lower the unit piece 108 d.

FIG. 12 is a reference diagram for obtaining the same effect.

In FIG. 12, a wheel 220 is provided on the mounting plate 208, and a caster of Patent 2979170 is used for the wheel.

Controlling the slide stabilizer has the same effect as controlling the mounting plate up and down in the frame. See Figure 12. It is the most suitable form when it is molded and used for pet robots because it can get over the steps in the Japanese house.

If the brake device is reliable, it can be used in other casings as well.

In FIG. 12, reference numeral 270 denotes an acceleration sensor replacing the contact sensor 170 of the second embodiment.

201 is a footrest similar to 101 of the second embodiment.

203 is a holding means similar to 103 of the second embodiment.

Reference numeral 204 denotes a heel support part similar to 104 of the second embodiment, and a control unit of the second embodiment.

It can have 80 functions.

208 is an installation plate similar to 108 in the second embodiment.

209 is a load device similar to 109 in the second embodiment. As described above, the embodiments of the present invention have been described in detail. However, the present invention is not limited to the above embodiments, and various modifications may be made within the scope of the present invention described in the appended claims. It is possible to do. Modification examples of the present invention are exemplified below.

(1) The moving structure before and after the installation plate 8 can be appropriately changed. For example, the arrangement and quantity of wheels can be changed as appropriate. However, in order to stabilize the mounting plate, it is preferable to arrange wheels on the front, rear, left and right below the mounting plate.

(2) Output from the output device can be via a communication cable or a storage medium.

(3) The load device that applies a load to the swing of the footrest plate 1 can be a structure other than the panel. For example, a device that applies a load using a motor, hydraulic pressure, pneumatic pressure, magnetic force, or the like can be used.

(4) The structure and type of the contact sensor can be appropriately changed as long as the number of swings of the footrest plate 1 can be detected. For example, it is possible to indirectly detect the swing of the footrest 1. Also, the number of times the footrest plate swings can be calculated from the number of changes in the direction of the speed detected by the acceleration sensor or the speed sensor instead of the contact sensor. In this case, the acceleration sensor or the speed sensor also has the function of the frequency detection sensor.

(5) When the number of reciprocating motions and speed of the footrest plate reaches the set value, when outputting a signal to the outside, an alarm device such as a buzzer, a lamp, etc. When the number of reciprocating motions of the footrest plate reaches the set value and the signal is output to the outside, it is possible to activate this alarm device or device. Industrial applicability

The present invention is intended to reduce the strength of muscles such as hemiplegia after cerebral stroke, rupture of the Achilles tendon, etc. This is effective when you exercise both one leg and the other leg without any obstacles. It is an effective training machine that realizes both forward and backward movement and up and down movement. Until now, spasticity that has been observed even after passive exercises to improve equinus contracture and expand the range of motion of joints has been observed.If appropriate electrical stimulation is given in advance from the synapse, spasticity is suppressed. The idea of electrical stimulation has been attempted on the belief that it may be obtained. Thus, it is considered that the suppression of spasticity by appropriate stimulation is not delayed even after the appearance of spasticity, and this method, that is, the exercise movement, stimulates the working muscles and antagonists alternately, as in electrical stimulation therapy. Giving Ia fibers a secretion of inhibitory substances from the terminals of inhibitory neurons just before the synapse leading to α-fibers, not only suppresses spasticity, but also reciprocal innervation and suppression mechanisms of the action and antagonist muscles. It is considered that spasticity can be suppressed by making good use of the present invention, and the present invention is an invention that realizes this lower limb movement with a single instrument.

Claims

The scope of the claims

1. An exercise training system for lower extremity movement, characterized in that the footrest on which both feet are placed can selectively reciprocate in the front-back direction or swing up and down.

2. A holding means for detachably holding both feet is provided, a foot rest plate on which both feet are placed, an installation board on which wheels are installed,

A load device that is interposed between the footrest plate and the installation plate and urges in the opening direction; a frame configured to allow the installation plate to move up and down; and any of the frame and the footrest plate An exercise training system for lower limb movement, wherein one side is provided as a swing axis.

3. A contact sensor, which is interposed between the installation plate on which wheels are installed and the footrest plate, and is provided on an upper surface of the installation plate, wherein the contact sensor comprises the installation plate and the footrest plate 3. The lower limb exercise training apparatus according to claim 1, wherein a signal can be output when the contact of the lower limb is detected.

4. A footrest on which both feet are placed and which can swing up and down or reciprocate back and forth around the heel as a pivot axis, and a contact sensor provided on the upper surface of this footrest A foot joint data obtaining means for obtaining data on the state of the joint of the foot placed on the footrest plate, wherein when the contact sensor detects that the foot has simultaneously contacted six points on the footrest plate, A lower limb activation exercise training device, characterized in that the ankle joint data obtaining means obtains the data of the state of the ankle joint;

5. a contact sensor interposed between a footrest plate capable of swinging up and down and an installation plate, and a contact sensor provided on an upper surface of the installation plate; An exercise device for lower limb movement exercise, comprising: an output device for outputting a signal when contact between the placing plate and the footrest plate is detected. Claims of amendment

[3/10/2010 (30.10.00) Accepted by the International Bureau; Claim 5 originally filed has been amended; Other claims remain unchanged. (Page 1)]

3. A contact sensor interposed between the installation plate on which wheels are installed and the footrest plate, and a contact sensor provided on an upper surface of the installation plate, wherein the contact sensor contacts the installation plate and the footrest plate. 3. The lower limb movement exercise training device according to claim 1, wherein a signal can be output when the lower extremity is detected.

4. A footrest plate on which both feet are placed and which can swing up and down or reciprocate in the front-back direction with the heel part as a swing axis, and a contact sensor provided on an upper surface of the footrest plate, Means for obtaining data on the state of the joints of the feet placed on the footrests, and means for obtaining data on the condition of the foot joints, wherein the contact sensor 1 detects that the feet have simultaneously contacted six points on the footrests. In this case, the lower limb movement exercise training device is characterized in that the ankle joint data obtaining means obtains data of a state of a foot joint.

5. (After correction) A foot-holding plate is provided with holding means for detachably holding both feet, placing both feet in a sitting posture, and using any one side as a swing axis to be able to swing vertically. An installation plate corresponding to a swing axis which is an arbitrary side of the footrest plate, and provided so as to be capable of swinging the footrest plate in a vertical direction; interposed between the footrest plate and the installation plate A load device that urges in the opening direction, the footrest plate detects a contact sensor provided on one of the installation plates, and the contact sensor detects contact between the installation plate and the footrest plate. An exercise training apparatus for lower limb movement, comprising an output device for outputting a signal.

Amended paper (Article 19 of the Convention) Damage to explanation based on Article 19 of the Treaty Article 5 of the Claims was amended.However, in Claim 5 of the Claims, holding means for detachably holding both feet were provided, and both feet were placed in a sitting posture. A footrest plate (201) provided with one side as a swing axis and capable of swinging up and down, and the footrest plate corresponding to a swing axis that is an arbitrary side of the footrest plate. An installation plate (208) provided to be swingable in the vertical direction; a load device (209) interposed between the footrest plate and the installation plate for urging in the opening direction; A contact sensor (70) provided on one of the installation boards (in FIG. 12, an acceleration sensor (270) is used); and the contact sensor detects contact between the installation board and the footrest board. In this case, an output device that outputs a signal, that is, a device that outputs a signal that activates the function described in (5) on page 17 is provided. That it is the lower limbs Sodo exercise training apparatus according to claim that there were example, it has decided clearly.

Regarding the description of the contact sensor (70) provided on one of the installation plates as the footrest plate, the description in Claim 5 before amendment and the description on page 11, line 12 in the specification Were combined, quoted and corrected.

All details corresponding to the amendment are described in the specification. The cited example is a balance trainer that emits a signal when the hole is stepped off, and it is similar in that it detects contact and outputs it to the outside, but the signal is when the hole is stepped off It is emitted and means imbalance. This amendment clarifies that the configuration of Claim 5 differs from that of your cited example, and clearly shows that the effect of the present invention, which aims at the efficient implementation of the motivational movement, is clearly different. We think that it became. I am convinced that the similarity of your point has been resolved.