WO2007043308A1 - 動作支援装置および動作支援方法 - Google Patents
動作支援装置および動作支援方法 Download PDFInfo
- Publication number
- WO2007043308A1 WO2007043308A1 PCT/JP2006/318824 JP2006318824W WO2007043308A1 WO 2007043308 A1 WO2007043308 A1 WO 2007043308A1 JP 2006318824 W JP2006318824 W JP 2006318824W WO 2007043308 A1 WO2007043308 A1 WO 2007043308A1
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- WO
- WIPO (PCT)
- Prior art keywords
- user
- sensor
- muscle
- actuator
- movement
- Prior art date
Links
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- 210000003205 muscle Anatomy 0.000 claims abstract description 107
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- 210000001513 elbow Anatomy 0.000 description 14
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
Definitions
- the present invention relates to an operation support apparatus and an operation support method that support an operation of an elbow, a wrist, or a knee of a human body using an actuator.
- an apparatus described in Japanese Patent Application Laid-Open No. 2001-286519 includes an actuator that applies an assisting force in a bending direction to a joint portion of a user, a control unit that controls the movement of the actuator, and both sides of the actuator. And a pair of mounting portions attached to the. According to this technology, it was possible to support joint flexion and extension movements by operating the actuator.
- the device described in Japanese Patent Application Laid-Open No. 2001-276101 has a flexible, cylindrical mounting portion that wraps and closely contacts a user's joint, and an outer periphery of the mounting portion. It has an integrated actuator. With this technology as well, by operating the actuator, it was possible to bend the mounting part and support the bending and extension of the joint.
- the present invention has been made in view of these problems.
- the operation support apparatus and operation support capable of supporting the operation with the direction and force desired by the user are provided.
- a method is provided.
- the motion support device of the present invention includes a plurality of mounting portions that are mounted across the user's joints, an actuator that is suspended between the plurality of mounting portions, and a user that is mounted to control the movement of muscles. It is characterized by comprising a sensor for detection and a control unit for controlling the actuator based on the movement of the muscle detected by the sensor.
- control unit can control the actuator based on the movement of the muscle detected by the sensor, so that the user's motion intention is reflected in the motion support device and used.
- the operation support can be performed in the direction and force desired by the person.
- the movement can be supported without obstructing the movement of the user's joint.
- control unit may be configured to cause the actuator to generate a force that assists the movement of the muscle based on the movement of the muscle detected by the sensor.
- a pneumatic pressure source for supplying air to the actuator is provided, the actuator is a pneumatic rubber artificial muscle, and the controller is configured to operate the actuator by controlling the pneumatic pressure of the pneumatic rubber artificial muscle. May be.
- the artificial rubber muscle is used as the actuator, it is possible to realize a configuration that is less likely to cause discomfort when hitting the human body.
- the artificial rubber muscle which is the actuator, is light, so the moment applied to the base of the limb is reduced, reducing the burden on the human body.
- the range of motion is determined by the contraction limit of the artificial rubber muscle, it does not exceed the range of motion of the user's joint. Do not give a heavy burden.
- a plurality of the actuators may be suspended between a pair of mounting parts, and the plurality of actuators may be arranged at positions that antagonize each other with respect to the joint.
- a pair of actuators may be arranged between the pair of mounting portions.
- an elastic joint may be provided between the mounting portions.
- the senor may be attached to a predetermined part of the user, and the actuator may be attached to support the operation of the predetermined part of the user.
- the senor is attached to one part of the user, and the actuator is provided so as to support the operation of the other part of the user.
- the one part and the other part are symmetrical. It may be a composition that is a part! /.
- the senor is attached to the site on the healthy side of the user, and the actuator is attached to the site where the muscle strength of the user is weakened.
- the actuator is attached to the site where the muscle strength of the user is weakened.
- it may have a configuration in which a plurality of sensors are provided and some of the plurality of sensors are attached to other parts of the user. [0026] According to such a configuration, it is possible to detect the movement of the portion where the user's muscle strength is weak, and thus it is possible to know the degree of recovery of the user's muscle strength.
- the senor may be attached to a predetermined part of the instructor who gives an instruction to the user, and the actuator may be attached to the predetermined part of the user.
- the user can easily move according to the movement of the instructor, and effective rehabilitation can be performed.
- a plurality of actuators may be provided, and a plurality of actuators can be attached to a predetermined portion of each of a plurality of users.
- a plurality of users can further receive operation support by the movement of the instructor.
- control unit may be configured to control the actuator so that a load is applied to the movement of the muscle based on the movement of the muscle detected by the sensor.
- the motion support method of the present invention includes a plurality of mounting portions mounted across the user's joints, an actuator suspended between the plurality of mounting portions, and a muscle mounted on the user.
- the actuator can be controlled based on the movement of the muscle detected by the sensor, so that the operation can be supported in the direction and force desired by the user.
- FIG. 1 is a perspective view showing a state in which the motion support device according to the first embodiment of the present invention is mounted on an arm.
- FIG. 2 is a perspective view of the operation support device in the state shown in FIG. 1 as viewed from the back, according to the first embodiment of the present invention.
- Fig. 3 is an action tutor of the operation support apparatus according to the first embodiment of the present invention. It is a perspective view of a knit part.
- FIG. 4 is a functional block diagram of the operation support apparatus in the first embodiment of the present invention.
- FIG. 5 is a diagram showing a state in which a user's elbow is bent by the motion support device according to the first embodiment of the present invention.
- FIG. 6 is a flowchart showing the operation steps when the operation support apparatus according to the first embodiment of the present invention supports the operation of the user.
- FIG. 7 is a diagram for explaining a function of a control unit of the operation support apparatus according to the first embodiment of the present invention.
- FIG. 8 is a diagram showing a configuration of an operation support apparatus in the second embodiment of the present invention.
- FIG. 9 is a diagram showing another example of the operation support apparatus according to the second embodiment of the present invention.
- FIG. 10 is a diagram showing a configuration of an operation support apparatus according to a third embodiment of the present invention.
- FIG. 1 is a perspective view showing a state where the motion support device 50 according to the first embodiment of the present invention is worn on the arm
- FIG. 2 is a view of the motion support device 50 in the state shown in FIG. It is a perspective view.
- FIG. 3 is a perspective view of the actuator unit 54 portion of the motion support device 50.
- the motion support device 50 is a mounting portion that is placed across the elbow joint of the user and is mounted on the upper arm.
- the rubber artificial muscle 6 and the rubber artificial muscle 7 are disposed in a pair at the “position to be performed”).
- the motion support device 50 is disposed between the cuff 3, the cuff 2 and the cuff 3 which are attached to the position of the palm which covers the wrist joint with respect to the cuff 2 which is attached to the forearm.
- the artificial muscle 8 and the rubber artificial muscle 9 which are the actuators for assisting the movement of the wrist in the palm flexion direction, and the position of the wrist dorsiflexion in the position that antagonizes the rubber artificial muscle 8 and the rubber artificial muscle 9
- a rubber artificial muscle 10 and a rubber artificial muscle 11 are arranged to assist movement.
- Rubber artificial muscle 4 ⁇ As L1, for example, a Macchiben type pneumatic actuator having a cylinder part having an air valve and a sleeve part, which is also called a McKibben type pneumatic rubber artificial muscle, is used. it can. When a McKibben type pneumatic actuator is used, the cylinder part is pressurized and expanded through the air valve, so that the actuator is contracted by the action of the sleeve part. The character will grow.
- the motion support device 50 includes a joint 17 disposed between the cuff 1 and the cuff 2, and a joint 18 disposed between the cuff 2 and the cuff 3.
- each of the joint 17 and the joint 18 is configured by using an elastic body, and thus supports a twisting (rotating) motion in addition to a bending and extending motion at each joint of the user. It can be done.
- cutout unit 54 the artificial rubber muscles 4 to 11, the cuffs 1 to 3 and the joints 17 and 18 are collectively referred to as Cutout unit 54.
- the motion support device 50 further detects the movement of the triceps on the upper arm, a sensor 12 arranged to detect the movement of the biceps on the upper arm of the user, and detects the movement of the triceps on the back of the upper arm.
- Sensor 13 placed on the front side of the user's forearm, sensor 15 placed on the back side of the forearm, and outputs of sensors 12 to 15 Accordingly, a control unit 16 is provided for controlling the artificial rubber muscles 4 to 11 so as to support the user's operation.
- sensors 12 to 15 various known sensors such as a strain gauge can be used as long as they can measure a user's muscle strength.
- the sensors 12 to 15 are collectively referred to as a sensor unit 52.
- control unit 16 may be realized by hardware of a dedicated circuit, or by writing a program that realizes control steps described later and causing the computer to execute the program. That function can be realized.
- FIG. 4 is a functional block diagram of the operation support apparatus 50 according to the first embodiment of the present invention.
- the sensors 12 to 15 of the sensor unit 52 are each connected to the control unit 16.
- the control unit 16 detects the output of each of the sensors 12 to 15 to determine whether or not the user is trying to move properly, and based on the result, the rubber connected to the air pressure source 22 is determined.
- the opening and closing of the air valves of the artificial muscles 4 to 11 to change the air pressure, the rubber artificial muscles 4 to 11 are operated, and the desired direction and the desired force are applied to the desired part of the user. Operation support can be performed with.
- FIG. 5 is a diagram illustrating a state where the user's elbow is bent by the motion support device 50 according to the first embodiment of the present invention.
- FIG. 6 is a flowchart showing the operation steps when the operation support device 50 supports the operation of the user.
- the control unit 16 of the motion support device 50 starts detecting outputs from the sensors 12 to 15 (S2).
- control unit 16 detects the output from the sensors 12 to 15 in step S2, the control unit 16 uses the output to determine which joint the user operates in which direction. Then, it is determined whether or not (S4).
- control unit 16 controls the opening and closing of the air valve of the artificial rubber muscle 4 ⁇ : L1, thereby causing each of the artificial rubber muscle 4 ⁇ : L1 to perform a desired operation ( S6). And the control part 16 returns to step S2, and starts the detection of the sensors 12-15 again.
- step S4 when the control unit 16 detects the outputs of the sensors 12 to 15 and determines that the user is trying to "bend the elbow joint", As shown, the control unit 16 controls the air valve of the rubber artificial muscle 4 and the rubber artificial muscle 5 and pressurizes the inside of each cylinder, thereby making the rubber artificial muscle 4 and the rubber artificial muscle 5 to be paired. By contracting and applying an urging force in the pulling direction between the cuff 3 and the cuff 2, a force that assists the bending of the elbow joint of the user can be applied.
- FIG. 7 is a diagram for explaining the function of the control unit 16 of the operation support apparatus 50 according to the first embodiment of the present invention.
- a graph of the movement of the user's biceps detected from the sensor 12 on the upper side is shown, and the control unit 16 at that time has a rubber artificial muscle 4, 4 at the lower side.
- 5 shows a graph of the force applied.
- Each graph shows the magnitude of force P on the vertical axis and time t on the horizontal axis.
- the control unit 16 determines that the detected force is a predetermined force.
- the threshold value P1 is exceeded (time T1)
- the rubber artificial muscle 4 and the rubber artificial muscle 5 are applied with an urging force P2 in the contraction direction as shown in the lower graph of FIG. 4 and rubber artificial muscle 5 Control each air valve.
- the biasing force P2 in the contraction direction can be applied to the user's biceps.
- the control unit 16 releases the urging force P2.
- the user removes the force from the muscle, it is possible to prevent an unintended force from being applied from the motion support device 50.
- the control unit 16 when the force detected by the sensor 12 exceeds the predetermined threshold value P1 (time T1), the control unit 16 does not necessarily need to apply the urging force P2 at the same time.
- a force with a slight delay in applying the biasing force P2 may give a sense of security to the user, so it is desirable to be able to adjust this delay amount.
- this delay amount specifically Is equipped with an adjustment section such as a switch or dial for adjusting the time Tl when the force detected by the sensor 12 exceeds the predetermined threshold PI and the amount of deviation between the time when the biasing force P2 is applied.
- the urging force P2 used for the operation support may be changed with time. For example, at the start of rehabilitation, the energizing force P2 is increased, the energizing force P2 is decreased with time, and at the end of the rehabilitation, the energizing force P2 is increased again to perform warm-up and cool-down. Therefore, it is possible to realize a configuration with higher safety for the user.
- the motion support device 50 simultaneously contracts the rubber artificial muscle 4 and the rubber artificial muscle 5 by the same length, thereby operating the motion axis of the user's joint and the operations of the rubber artificial muscle 4 and the rubber artificial muscle 5.
- a vertical relationship with the axis can be maintained.
- the output of the artificial rubber muscles can be transmitted to the user's muscles efficiently, and the user's joint motion axis and the rubber artificial muscle motion axis can be transferred to the user's joint due to the vertical force shift. Can be reduced.
- control unit 16 determines that the artificial rubber muscle 6 in step S6. And by contracting the rubber artificial muscle 7, it is possible to support the movement of the elbow extension. Furthermore, with regard to wrist movement support, as in the case of the above-mentioned elbow movement support, by contracting the rubber artificial muscle 8 and the rubber artificial muscle 9, it becomes possible to support palm flexion movement. By contracting 10 and the artificial rubber muscle 11, it becomes possible to support the movement of dorsiflexion.
- step S6 the control unit 16 performs the artificial rubber muscle 4 and the artificial rubber muscle 9.
- the control unit 16 can support the external rotation of the forearm by contracting the rubber artificial muscle 5, the rubber artificial muscle 8, and the rubber artificial muscle 11.
- the elastic joint 17 and joint 18 are used to connect the cuffs 1 to 3, so that the torsional motion at the joint can be facilitated. it can.
- the control unit detects a signal output from the sensor force, and the control unit tries to perform any operation. Since the rubber artificial muscle is operated based on the determination result and the determination result, it is possible to appropriately support the operation of the direction and force desired by the user.
- the motion support device 50 does not have any parts that can be sandwiched inside the joint, the joint can be bent deeply and a heavy work is carried out, that is, a load of luggage at a factory or a moving contractor, etc. It can also be applied for transportation.
- the motion support device 50 uses soft and pneumatic rubber artificial muscles as an actuator, the user is less likely to feel pain and holds the patient. It can be applied to the medical and nursing care fields.
- FIG. 8 is a diagram showing the configuration of the motion support device 60.
- the operation support device 60 includes a sensor unit 62, an actuator unit 64, and a control unit 66.
- the difference between the motion support device 60 and the motion support device 50 in the first embodiment is that the sensor unit 62 is mounted on the arm opposite to the arm on which the user's actuate tutu 64 is mounted. It is a point.
- the motion support device 60 allows the control unit 66 to detect the movement of the arm to which the sensor unit 62 is attached and to support the movement. Can be operated by the artificial rubber of the actuator unit 64.
- the motion support device 60 it is possible to perform effective rehabilitation for a user whose half is paralyzed.
- the user's left arm is paralyzed If so, attach sensor unit 62 to the unparalyzed healthy arm (right arm) and attach actuator unit 64 to the paralyzed arm (left arm).
- the sensor 22 is placed on the front side of the upper arm of the user's right arm
- the sensor 23 is placed on the back side of the upper arm of the user's right arm
- the sensor 24 is placed on the front side of the forearm of the user's right arm.
- the sensor 25 is placed behind the forearm of the user's right arm.
- the user moves the arm of his / her healthy person so that the control unit 16 detects the movement of the muscles of his / her healthy arm through the sensor unit 62. Based on the movement, the actuator unit 64 can assist the movement of the corresponding muscle of the paralyzed arm.
- the user uses the motion support device 60, the user tries to move both arms in the same way while looking at the arm on the healthy side. You can rehabilitate by powering the paralyzed arm. Such rehabilitation can be carried out for a relatively long time by the user himself / herself without receiving instructions from occupational therapists, etc., so that the time required for recovery can be shortened.
- muscle strength is generated unconsciously in the muscles on the paralyzed side, so that not only muscle strength but also balance sensation and neurology. You can reinforce your talent and work.
- the force showing the example in which the sensor unit 62 is attached to the healthy arm and the actuator unit 64 is attached to the paralyzed arm is shown in this example. It is not limited to.
- the sensor unit is also attached to the paralyzed arm, and the control unit 66 detects the movement of the muscle of the paralyzed arm, so that the user's It is also possible to measure the degree of muscle strength recovery.
- the control unit 66 measures the degree of recovery of the muscular strength of the user, and changes the amount of motion support according to the result (for example, the amount of support decreases as the muscular strength recovers). Therefore, more effective rehabilitation is possible.
- the grip strength of the user is detected and the change in the grip strength is detected. Therefore, if the configuration is such that the safety switch works (for example, if the grip strength is reduced, the safety switch is turned on and the device is turned off), a configuration with excellent safety can be realized.
- the arm in the state of strength is more effective in rehabilitation because the sensing of muscle strength is more difficult.
- the force showing an example of causing the actuator unit 64 to perform the same movement as that detected by the sensor unit 62 is not limited to this example.
- the actuator unit 64 has an opposite phase to the motion detected by the sensor unit 62 (for example, if the sensor unit 62 detects bending of the elbow, the actuator unit 64 extends the elbow) It is also possible to make it move. When such a movement is made, it is as if the user is striking the drum (if you put it on your foot, please step on! /) You can feel it.
- the sensor unit 82 is attached to one arm of the user, and control is performed. 86 detects the output, and based on the output, the actuator unit 84 mounted on the other arm of the user and the actuator unit mounted on one of the user's legs. It is also possible to support the operation of each 85.
- control unit 86 causes the actuator units 84 and 85 to move in the opposite phase to the operation detected by the sensor unit 82.
- FIG. 10 is a diagram showing a configuration of the operation support apparatus 70 according to the third embodiment of the present invention.
- the operation support device 70 includes a sensor unit 72, an actuator tute 74, and a control unit 76 connected to the sensor unit 72 and the actuator unit 74.
- the difference between the motion support device 70 and the motion support device 50 in the first embodiment and the motion support device 60 in the second embodiment is that the sensor unit 72 and the actuator unit 74 are different. It is attached to another person. Further, in the present embodiment, an example in which the operation support apparatus 70 includes a plurality of the actuator units 74 for one sensor unit 72 is shown.
- the sensor unit 72 of the motion support device 70 is attached to an arbitrary part (for example, the right arm) of a person who instructs the user (hereinafter referred to as an instructor), such as an occupational therapist or an instructor.
- the cutout unit 74 is attached to the same part of the user where the sensor unit 72 is attached to the instructor.
- the control unit 76 detects the output from the sensor unit 72 attached to the instructor, determines which part of the instructor's muscle is going to move, and also the result. Based on this, the rubber artificial muscle of the actuator unit 74 attached to the user is operated. When a plurality of the actuator units 74 are provided, the control unit 76 controls the plurality of the actuator units 74.
- the motion support device 70 by using the motion support device 70, the user can easily move in accordance with the movement of the instructor. This is because the motion assisting device 70 assists the user so that the muscle corresponding to the movement of the instructor moves in the same manner.
- the motion support device 70 has a plurality of actuator units 74
- the instructor can instruct a plurality of users to exercise at the same time.
- Each person is supported by the movement of the muscle so that it moves in the same way as the movement of the instructor, so it is very useful as a device that supports rehabilitation in hospitals and rehabilitation facilities.
- the user's motivation can be further enhanced.
- the force that has been described with respect to the example using rubber artificial muscle as the actuator is not limited to this example.
- the same effect can be obtained when the function of an actuator is realized by a combination of a motor and a wire.
- the function of the operation support apparatus of the present invention can be realized by using a power source as the drive source and the control unit performing rotation control of the motor.
- two artificial rubber muscles used for assisting each flexion and extension motion of each joint are arranged. It is not limited to. For example, a configuration in which one artificial rubber muscle is arranged or a configuration in which three or more artificial muscles are arranged in the direction in which the operation of each joint is supported may be employed.
- the force showing a configuration using a strain gauge as a sensor is not limited to this configuration. Any sensor can be used as long as it can detect the movement of muscles, for example, a position sensor, a kake sensor, a torque sensor, a gravity sensor, a gravitational acceleration sensor, a velocity sensor, an acceleration sensor, and an angle sensor.
- Angular velocity sensor voice sensor, myoelectric potential sensor, displacement sensor, pressure sensor, pneumatic sensor, electroencephalogram sensor, flow sensor, temperature sensor, humidity sensor, electrostatic sensor, infrared sensor, photoelectric sensor, vibration sensor, impact sensor, current
- sensors such as a sensor, a voltage sensor, a magnetic sensor, or an ultrasonic sensor can be used.
- the mounting unit is described as being a cuff, but the present invention is not limited to this configuration.
- the user can wear the motion support device as if wearing the clothes as if wearing the clothes.
- a configuration that can be mounted can be realized.
- the clothes part can be freely washed, so that a configuration with excellent practicality can be realized.
- a temperature sensor is provided. It is practical to turn the heater on and off according to the outside air temperature.
- the control unit operates the actuator so as to assist the movement of the muscle detected by the sensor. It is not limited to this example. For example, if the control unit detects the movement of the muscle detected by the sensor, the direction in which the load is applied (for example, the direction in which the elbow is extended when the sensor detects bending of the elbow) will be updated. By applying the stamp to the car, it can be applied not only to rehabilitation but also to sports fields such as exercise and training.
- the force described in the assumption that the part to be worn is an arm is not limited to this example. It can be worn on any part of the human body other than the arm as long as it has joints such as fingers and knees of the limbs, ankles, hip joints, hips, neck and shoulders.
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
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GB0805983A GB2444679B (en) | 2005-10-11 | 2006-09-22 | Movement assisting device and movement assisting method |
KR1020097006010A KR101204540B1 (ko) | 2005-10-11 | 2006-09-22 | 동작 지원 장치 및 동작 지원 방법 |
EP06810437A EP1949873A4 (en) | 2005-10-11 | 2006-09-22 | MOTION ASSISTANCE APPARATUS AND METHOD |
US12/089,617 US20090276058A1 (en) | 2005-10-11 | 2006-09-22 | Movement assisting device and movement assisting method |
DE112006002718T DE112006002718T5 (de) | 2005-10-11 | 2006-09-22 | Bewegungsassistierende Vorrichtung und bewegungsassistierendes Verfahren |
JP2007506597A JP4065459B2 (ja) | 2005-10-11 | 2006-09-22 | 動作支援装置および動作支援方法 |
CN2006800375773A CN101282696B (zh) | 2005-10-11 | 2006-09-22 | 动作支援装置以及动作支援方法 |
Applications Claiming Priority (2)
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JP2005296272 | 2005-10-11 | ||
JP2005-296272 | 2005-10-11 |
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PCT/JP2006/318824 WO2007043308A1 (ja) | 2005-10-11 | 2006-09-22 | 動作支援装置および動作支援方法 |
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US (1) | US20090276058A1 (ja) |
EP (1) | EP1949873A4 (ja) |
JP (1) | JP4065459B2 (ja) |
KR (2) | KR101204540B1 (ja) |
CN (1) | CN101282696B (ja) |
DE (1) | DE112006002718T5 (ja) |
GB (2) | GB2444679B (ja) |
WO (1) | WO2007043308A1 (ja) |
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- 2006-09-22 EP EP06810437A patent/EP1949873A4/en not_active Withdrawn
- 2006-09-22 JP JP2007506597A patent/JP4065459B2/ja not_active Expired - Fee Related
- 2006-09-22 KR KR1020097006010A patent/KR101204540B1/ko not_active IP Right Cessation
- 2006-09-22 GB GB0805983A patent/GB2444679B/en not_active Expired - Fee Related
- 2006-09-22 KR KR1020087007520A patent/KR100911269B1/ko not_active IP Right Cessation
- 2006-09-22 GB GB0902350A patent/GB2455427B/en not_active Expired - Fee Related
- 2006-09-22 CN CN2006800375773A patent/CN101282696B/zh not_active Expired - Fee Related
- 2006-09-22 WO PCT/JP2006/318824 patent/WO2007043308A1/ja active Application Filing
- 2006-09-22 US US12/089,617 patent/US20090276058A1/en not_active Abandoned
- 2006-09-22 DE DE112006002718T patent/DE112006002718T5/de not_active Ceased
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Also Published As
Publication number | Publication date |
---|---|
DE112006002718T5 (de) | 2008-08-21 |
GB2455427A (en) | 2009-06-10 |
JPWO2007043308A1 (ja) | 2009-04-16 |
KR101204540B1 (ko) | 2012-11-23 |
GB0902350D0 (en) | 2009-04-01 |
KR20080055869A (ko) | 2008-06-19 |
GB2455427B (en) | 2009-12-02 |
GB2444679A (en) | 2008-06-11 |
GB2444679B (en) | 2009-03-25 |
US20090276058A1 (en) | 2009-11-05 |
CN101282696A (zh) | 2008-10-08 |
JP4065459B2 (ja) | 2008-03-26 |
KR20090047541A (ko) | 2009-05-12 |
CN101282696B (zh) | 2012-12-05 |
GB0805983D0 (en) | 2008-05-07 |
KR100911269B1 (ko) | 2009-08-11 |
EP1949873A1 (en) | 2008-07-30 |
EP1949873A4 (en) | 2012-05-16 |
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