WO2009150854A1

WO2009150854A1 - Device for training range of joint motion

Info

Publication number: WO2009150854A1
Application number: PCT/JP2009/002677
Authority: WO
Inventors: 石塚明温; 長谷川力; 平石貴補
Original assignee: 株式会社フィジオン
Priority date: 2008-06-12
Filing date: 2009-06-12
Publication date: 2009-12-17
Also published as: JP2011172604A

Abstract

Provided is a device with which a user can perform training for a range of joint motion without causing pain to the user. A thaining device (100) for a range of joint motion comprises a pedal (111) for placing the sole, a section for driving the pedal (111), a section for giving a predetermined notice to a user, and a unit (130) performing a predetermined control. A force detector for measuring a load which is applied to the sole from the pedal (111) is provided in the pedal (111). According to the training device (100), a user temporarily shrinks a muscle positively in a range of joint motion where the user can move the muscle for oneself and then relaxes the muscle, thereafter the user moves the muscle to a position exceeding the limit of initial range of motion by means of the pedal (111). Therefore, the muscle can be relaxed easily as compared with the muscle before being shrunk, and hence a range of joint motion is widened. Unlike a conventional training device, no excessive force is applied to the joint and a user can perform training for a range of joint motion without feeling any pain.

Description

Range of motion training device

The present invention relates to a joint range-of-motion training apparatus used for training to expand the range of motion of a joint of a human body.

If the joints of the human body are left unmoved for a long time, the range of motion will be narrowed. This is noticeable in elderly people, stroke patients, fracture patients, and the like. In order to improve this, it is effective for a physical therapist or the like to apply a force to the patient's joint and perform a training to expand the range of motion of the joint (joint range of motion training).

Conventionally, it has been proposed to perform joint range-of-motion training using a machine without the help of a person. For example, Patent Document 1 describes an apparatus for performing a range-of-motion exercise of a joint that is linked to the movement of a limb by fixing a patient's limb to a grip at the tip of the arm and causing the arm to repeatedly perform a predetermined operation. ing.

JP 2000-189475 A

In conventional joint range-of-motion training devices, the user's joint is forcibly moved to an angle that exceeds the range of motion that the user can move on their own. Therefore, the user tends to feel pain in the joint.

The problem to be solved by the present invention is to provide a joint range-of-motion training apparatus that allows a user to perform joint range-of-motion training without pain.

The range of motion training apparatus according to the present invention made to solve the above problems is
a) a movable part movable in the moving direction of one part connected to the joint to be trained;
b) driving means for driving the movable part;
c) load measuring means for measuring the load applied to the movable part from the part;
d) a notification means for giving a predetermined notification to the user;
e) Control means for controlling the following e1) to e5);
Is provided.
e1) The movable portion is moved by the driving means from the movable range side toward the portion moved to the limit of the movable range of the portion.
e2) When contact between the movable part and the part is detected by the load measuring means, the movable part is stopped, the position is set as a training start position, and a load is applied to the movable part by the notification means to the user. Notice.
e3) When a load equal to or greater than a predetermined threshold is detected by the load measuring means, the movable means is moved in the direction of the load by the driving means.
e4) When the movable part reaches a predetermined intermediate position, the notification means notifies the user to stop applying a load to the movable part.
e5) The movable part is further moved in the same direction by the driving means, and when the movable part reaches a predetermined reverse position, the moving direction is reversed and the movable part is moved to an end position exceeding the start position.

関節 If the muscles that move the joints do not relax sufficiently, the joints are limited in the range of motion before the limits of the skeleton. In the training using this apparatus, in order to relax the limitation, the muscles are contracted once after being actively contracted. This makes it easier for the muscles to relax than before contraction and increases the range of motion of the joint. Such a training method is based on the concept of PNF (neuromuscular facilitator technique) that stimulates sensory receptors in muscles, ligaments, and joints to promote the reaction of the nerve-muscle mechanism.

In the joint range of motion training apparatus according to the present invention, the above training is performed according to the following procedure. First, the user (trainer) moves one part connected to the joint to be trained to the limit of the range of motion by himself / herself and maintains the state. Next, the control means moves the movable part from the movable range side of the part toward the part by the driving part. When the movable part contacts the part and the load measuring means detects the contact, the control means stops the movement of the movable part. The position of the movable part at the time of this contact is set as the training start position, and the notification means notifies the user to apply a load to the movable part.

Next, the user presses the part against the movable part and applies a load thereto. When the load measuring unit detects a load equal to or greater than a predetermined threshold, the control unit causes the driving unit to move the movable part in the direction of the load so as not to oppose the load. The user continues to apply a load while the movable part is moving. During this time, the muscles that mainly work in this movement actively contract.

When the movable part reaches a predetermined intermediate position, the control means notifies the user to stop pressing the part against the movable part using the notification means. Thereafter, the movable part is further moved in the same direction. After the notification, the user stops applying a load to the movable part and moves the part together with the movable part.

When the movable part reaches a predetermined reversal position, the control means reverses the moving direction of the movable part and moves the movable part to an end position exceeding the start position. During this time, the user moves the part together with the movable part without actively applying a load to the movable part. At this time, the muscles that have contracted until then relax.

The “intermediate position” described above is determined in advance within the movable range of the movable part. This position may be determined by an angle, or may be determined by a moving time when the moving speed of the movable part by the driving means is fixed.

According to the joint range-of-motion training apparatus according to the present invention, the muscle is first contracted and then relaxed within the range of the joint range of motion that can be moved by the user. Since the joint is moved to a position that exceeds the limit of the region, the muscles are more relaxed than before the contraction, and the range of motion of the joint is expanded. Therefore, unlike a conventional training apparatus, an excessive force is not applied to the joint, and the user can perform joint range of motion training without feeling pain.

PNF is an exercise therapy that is applied not only to the rehabilitation of elderly people and stroke patients, but also to the conditioning of athletes. The device can also be used for such applications.

1 is a schematic configuration diagram of a training apparatus 100 according to Embodiment 1. FIG. The top view inside the training unit 110 provided in the apparatus. Sectional drawing of the pedal 111 in the AA line of FIG. The block diagram which shows the function of the apparatus. The figure which shows the procedure of the joint range of motion training using the same apparatus. The schematic block diagram of the training apparatus 200 which concerns on Example 2. FIG. The front view (a) and partial side view (b) which show the use condition of the apparatus. FIG. 7 is a cross-sectional view of the butterfly machine arm rest 210 taken along line FF in FIG. 6. The front view which shows the modification of the use condition of the apparatus. The front view (a) and side view (b) which show the use condition of the training apparatus 300 which concerns on Example 3. FIG. The side view which shows the use condition of the training apparatus 400 which concerns on Example 4. FIG. Side view (a) and plan view (b) showing schematic configuration of training apparatus 500 according to embodiment 5. The side view which shows the use condition of the apparatus. Sectional drawing of the 1st leg pad part 511 of the apparatus.

Hereinafter, embodiments of the range of motion training apparatus according to the present invention will be described with reference to the accompanying drawings.

The first embodiment is a joint range of motion training apparatus 100 for an ankle joint. FIG. 1 is a schematic configuration diagram of the training apparatus 100. The training apparatus 100 includes a training unit 110 provided with a pedal 111 for placing a sole, a control unit 130 for controlling the operation of the pedal 111, and an operation unit 140 for a user to give an instruction to the control unit 130. With.

FIG. 2 is a plan view of the training unit 110. On the base 121 of the training unit 110, a pedal 111 provided with a rotating shaft 112 on the heel side, a force detector 114 such as a load cell provided inside the pedal 111, a servo motor 115, a gear box 116, and A drive unit 113 having a first spur gear 117 is provided. The first spur gear 117 meshes with a second spur gear 118 provided on the rotating shaft 112. FIG. 3 is a cross-sectional view of the pedal 111 taken along line AA in FIG. The pedal 111 has a two-layer structure of an upper plate 111A and a lower plate 111B, and a force detector 114 is provided between the plates.

FIG. 4 is a block diagram showing functions of the training apparatus 100. Based on this figure, the configuration of the control unit 130 will be described. The control unit 130 includes a drive control unit 131 such as a servo amplifier that supplies a drive current to the drive unit 113 of the training unit 110, a signal amplification unit 132 such as a load cell amplifier that amplifies a detection signal from the force detector 114, and Is connected to the machine controller 135. In the machine controller 135, in addition to the drive control unit 131 and the signal amplification unit 132, an operation unit 140, a notification unit 133 including a notification unit such as a speaker or an indicator lamp, and an adjustment for setting a threshold value to be described later An input unit 134 including an input device such as a dial is connected. The notification unit 133 and the input unit 134 may be provided in an appropriate place such as the operation unit 140 instead of being provided in the control unit 130. Further, instead of providing the input unit 134, a terminal such as a personal computer may be connected to the machine controller 135.

The operation unit 140 includes a start switch for instructing the machine controller 135 to start training and an emergency stop switch for urgently stopping the drive unit 113 (both not shown).

FIG. 5 is a diagram showing the procedure of joint range of motion training using the training apparatus 100. First, the user puts the sole on the pedal 111 and raises the toe as high as possible while keeping the heel on the pedal 111 (FIG. 5A).

Next, when the user turns on the start switch of the operation unit 140, the machine controller 135 sends a control signal to the drive control unit 131 to drive the drive unit 113 and rotate the pedal 111 upward about the rotation shaft 112. Let When the pedal 111 comes into contact with the sole (FIG. 5B), the force detector 114 in the pedal 111 detects the contact, and the detection signal is sent to the machine controller 135 via the signal amplifying unit 132. In response to the detection signal, the machine controller 135 sends a signal for stopping the operation of the drive unit 113 to the drive control unit 131. Thereby, the pedal 111 stops at the position (start position B) in contact with the sole.

Next, the machine controller 135 prompts the user to apply a load to the pedal 111 through the notification unit 133. In accordance with the instruction, the user presses the sole of the foot against the pedal 111 and applies a load thereto. When the force detector 114 detects a load equal to or greater than a preset first threshold value, the machine controller 135 sends a control signal to the drive control unit 131 to drive the drive unit 113. As a result, the pedal 111 moves downward while maintaining a constant speed for a predetermined time (for example, 7 seconds), and proceeds to a position (intermediate position C) rotated by a first predetermined angle (for example, 30 °) (FIG. 5). (C)). The user continues to apply a load to the pedal 111 while the pedal 111 is moving. In addition, if a user pulls out power during this time, joint range of motion training will not be established. Therefore, when the load detected by the force detector 114 during this time becomes smaller than the second threshold value which is equal to or less than the first threshold value, the machine controller 135 causes the drive control unit 131 to stop the operation of the drive unit 113. A signal is sent and the movement of the pedal 111 is temporarily stopped. The second threshold value may be the same as the first threshold value. Further, if the load determined by each threshold and the muscular strength of the user are not balanced, it becomes difficult for the user to apply a load to the pedal 111. In that case, training is performed again by changing each threshold value by the input unit 134.

When the pedal 111 moves to the intermediate position C, the machine controller 135 prompts the user to stop applying a load to the pedal 111 by the notification unit 133. The user removes the force applied to the pedal 111 according to the instruction. Thereafter, the machine controller 135 moves the pedal 111 downward. The user lowers the toe together with the pedal 111.

When the pedal 111 reaches a position (position D) rotated by a second predetermined angle (for example, 10 °) (FIG. 5D), the machine controller 135 reverses the movement direction of the pedal 111 and moves the pedal 111 upward. Move to. When the pedal 111 exceeds the intermediate position C and reaches a position (end position E) further advanced from the start position B by a third predetermined angle (for example, 1 °), the machine controller 135 stops the movement of the pedal 111 (FIG. 5 (e)). Also during this time, the user moves the toes according to the pedal 111. Thereby, an ankle joint can be moved to the position beyond the range of motion which was able to be moved by one's own power without pain.

It is desirable to repeat the above cycle in order to increase the effectiveness of the above training. After the pedal 111 reaches the end position E, the same operation is repeated with this position as a new start position B '. As a result, the end position moves in the direction of expanding the joint by a third predetermined angle every cycle. Thereby, a joint movable range can be expanded little by little.

In the above training, when the user is applying a load to the pedal 111, the user moves the pedal 111 in the direction of the load so as not to oppose the load. Therefore, the user is difficult to apply an extremely strong force to the pedal 111. For this reason, it is difficult for troubles such as excessively applying a load to damage the joint or excessively increasing blood pressure.

The second embodiment is an upper limb joint range-of-motion training apparatus 200. FIG. 6 is a schematic configuration diagram of the training apparatus 200. FIG. 7 is a front view (a) and a partial side view (b) showing how the training apparatus 200 is used. The training apparatus 200 includes an arm unit 201 of a butterfly machine that is pushed in the left-right direction by a forearm, a control box 230 for controlling the operation of the arm unit 201, and an operation unit 240 such as a foot switch. A pair of arm portions 201 are provided for training the left and right forearms.

The arm part 201 includes an arm rest part 210 that comes into contact with the forearm and a support part 220 that rotatably supports the arm rest part 210. One end of the support part 220 supports the arm rest part 210, and the other end is inserted into the control box 230. FIG. 8 is a cross-sectional view of the arm rest section 210 taken along line FF in FIG. The arm rest part 210 includes a base part 211 fixed to the end part of the support part 220 and a contact plate 212 in contact with the user's forearm, and a force detector 213 is provided therebetween.

As shown in FIG. 6, the control box 230 is provided with a drive unit 231 and a control unit 234 having the same functions as the drive unit 113 and the control unit 130 of the first embodiment. Gears (not shown) are provided on the end of the support part 220 inserted into the control box 230 and the rotation shaft in the drive part 231, respectively. A drive unit 231, a force detector 213, and an operation unit 240 are connected to the control unit 234.

As shown in FIG. 7, by setting the position of the arm unit 201 at the start of training to a position opened to the left and right of the user, training for extending the range of motion of the upper limbs can be performed. Further, as shown in FIG. 9, the start position of the arm unit 201 may be set in front of the user.

In addition, although the training apparatus 200 of the present embodiment and the training apparatus 100 of the first embodiment have different joints to be trained, the basic concept of training is the same. Therefore, the procedure of joint range-of-motion training using the training apparatus 200 of the present embodiment is essentially the same as that of the first embodiment. The same applies to the following embodiments.

The joint range of motion training apparatus 300 according to the third embodiment is also used for joint range of motion training of the upper limbs. FIG. 10 is a front view (a) and a side view (b) showing the usage status of the training apparatus 300. The training apparatus 300 includes a control box 330 provided behind the backrest 320 and an armrest 310 that can rotate in the vertical direction about a rotation shaft 311 provided on a side surface of the control box 330.

The armrest 310 has a two-layer structure of a contact plate 312 with which the elbow contacts and a base portion 313 that supports it from below, and a force detector 314 is provided between them. Inside the control box 330, as in the second embodiment, a drive unit and a control unit are provided (not shown). The drive unit moves the armrest 310 up and down by rotating the rotation shaft 311. The armrest 310 is not limited to a structure that rotates about a certain axis as described above, but may be a structure that slides up and down.

In the training apparatus 300, the armrest 310 is moved up and down, and the elbow pressed against the armrest 310 is moved up and down to perform training for raising the elbow.

The fourth embodiment is a waist joint range-of-motion training apparatus 400. FIG. 11 is a side view showing a usage state of the training apparatus 400. FIG. 11A shows a state at the start of training, and FIG. 11B shows a state where the back is pressed against the backrest 410. The training device 400 includes a control box 430 provided at the rear of the seat 420 and a backrest 410 that tilts back and forth around a rotating shaft 411 provided on a side surface of the control box 430.

The backrest 410 has a two-layer structure of a contact plate 412 that makes contact with the back and a base portion 413 that supports the contact plate 412 from behind, and a force detector 414 is provided therebetween. Inside the control box 430, as in the second embodiment, a drive unit and a control unit are provided (not shown). The driving unit tilts the backrest 410 forward and backward by rotating the rotating shaft 411. The armrest 415 may be fixed to the seat 420 or the like, but if it moves according to the operation of the backrest 410 as shown in FIG. 11, training becomes easier.

In the training apparatus 400, the backrest 410 can be tilted back and forth, and the user's back pressed against the backrest 410 can be moved back and forth to perform training to expand the joint range of motion of the waist.

The fifth embodiment is a joint range-of-motion training apparatus 500 for a knee joint. FIG. 12 is a side view (a) and a plan view (b) showing a schematic configuration of the training apparatus 500. FIG. 13 is a side view showing a usage situation of the training apparatus 500. The training apparatus 500 includes an arm unit 510 of a leg extension machine, a drive unit 520 provided with a servo motor, a gear box, and the like, and a control unit 530 that controls the drive unit 520 and the like.

The arm portion 510 includes a first leg rest portion 511 that contacts the front surface of the lower leg, a second leg rest portion 512 that contacts the rear surface of the lower leg, and a support portion 513 that supports them. The upper end of the support part 513 is attached to the upper end part of the support | pillar 527 which has the height to a user's knee vicinity. The support portion 513 rotates in the vertical direction around this attachment position. FIG. 14 is a cross-sectional view of the first leg rest 511. The first leg rest 511 includes a contact plate 511A that contacts the front of the lower leg, a base 511B that supports the plate, and a force detector 511C provided between them. The second leg rest part 512 has a similar structure.

A crank 522 is provided at the end of the power transmission shaft 521 extending from the side surface of the drive unit 520. A power transmission rod 523 for transmitting the rotational motion to the support portion 513 is attached to the crank 522. The other end of the power transmission rod 523 is connected to the support portion 513. The power transmission means is not limited to this, and a wire, a chain, or the like may be used.

In the training apparatus 500, as shown in FIG. 13, by pressing the front surface of the lower leg against the first leg rest portion 511, it is possible to perform training to expand the range of motion of the knee joint backward (FIG. 13 (a)). Then, by pressing the back of the lower leg against the second leg rest part 512, it is possible to perform a training for expanding the range of motion of the knee joint forward (FIG. 13 (b)). In this embodiment, a device for training one knee is shown, but a device for training both knees at the same time by lengthening the leg rest, or two sets of arm portions etc. are provided adjacent to each other so that both knees are independent. It is good also as an apparatus to train.

The joint range of motion training apparatus according to the present invention has been described with reference to a plurality of examples, but the above is only an example. For example, in each of the above embodiments, a servo motor is used for the drive unit, but a hydraulic cylinder or the like may be used instead. Although a force detector is used as the load measuring means, a torque detector or the like may be used instead. When notifying the user to stop applying a load to the movable part, instead of using sound or light, the movement speed of the movable part such as a pedal is changed to indicate to the user that timing. It may be recognized. The timing for reversing the movement of the movable part may be determined not by the position or angle of the movable part but by the movement time. In addition to the above, it goes without saying that improvements and modifications may be made as appropriate within the spirit of the present invention.

DESCRIPTION OF

SYMBOLS

100, 200, 300, 400, 500 ... Joint range-of-motion training apparatus 110 ... Training unit 111 ... Pedal 111A ... Upper board 111B ...

Lower board

112, 311, 411 ...

Rotating shaft

113, 231, 520 ... Drive

part

114, 213, 314, 414, 511C ... force detector 115 ... servo motor 116 ... gear box 117 ... first spur gear 118 ... second spur gear 121 ...

base

130, 234, 530 ... control unit 131 ... drive control unit 132 ... signal amplification unit 133 ... Notification unit 134 ... Input unit 135 ...

Machine controller

140, 240 ...

Operation unit

201, 510 ... Arm unit 210 ...

Arm rest unit

211, 313, 413, 511B ...

Base unit

212, 312, 412, 511A ... Contact plate 220 513:

Support portions

230, 330, 430 ... Control box 420 ... Seat portion 511 ... 1 of leg supports 512 ... second leg supports 521 ... power transmission shaft 522 ... Crank 523 ... power transmission rod 527 ... posts

Claims

a) a movable part movable in the moving direction of one part connected to the joint to be trained;
b) driving means for driving the movable part;
c) load measuring means for measuring the load applied to the movable part from the part;
d) a notification means for giving a predetermined notification to the user;
e) Control means for controlling the following e1) to e5);
A joint range-of-motion training apparatus comprising:
e1) The movable portion is moved by the driving means from the movable range side toward the portion moved to the limit of the movable range of the portion.
e2) When contact between the movable part and the part is detected by the load measuring means, the movable part is stopped, the position is set as a training start position, and a load is applied to the movable part by the notification means to the user. Notice.
e3) When a load equal to or greater than a predetermined threshold is detected by the load measuring means, the movable means is moved in the direction of the load by the driving means.
e4) When the movable part reaches a predetermined intermediate position, the notification means notifies the user to stop applying a load to the movable part.
e5) The movable part is further moved in the same direction by the driving means, and when the movable part reaches a predetermined reverse position, the moving direction is reversed and the movable part is moved to an end position exceeding the start position.
2. The joint range-of-motion training apparatus according to claim 1, wherein after the movable portion moves to the end position, the same operation is repeated with the end position as a new start position.
When the load measured by the load measuring unit before the movable unit reaches the intermediate position is smaller than a second threshold value which is a value equal to or less than the threshold value, the control unit is configured to move the movable unit by the driving unit. The movement of the joint range-of-motion training device according to claim 1, wherein the movement of the joint is stopped.
4. The joint range-of-motion exercise apparatus according to claim 1, further comprising a threshold value changing means for a user to change the threshold value and / or the second threshold value.
The joint range-of-motion training apparatus according to any one of claims 1 to 4, wherein the movable part is a pedal on which a foot is placed.
The joint range-of-motion training apparatus according to any one of claims 1 to 4, wherein the movable part is an arm part of a butterfly machine that is pushed in the left-right direction by a forearm.
The joint range of motion training apparatus according to any one of claims 1 to 4, wherein the movable part is an armrest that is movable in a vertical direction.
The joint range-of-motion training apparatus according to any one of claims 1 to 4, wherein the movable part is a backrest inclined forward and backward.
The joint range-of-motion training apparatus according to any one of claims 1 to 4, wherein the movable part is an arm part of a leg extension machine that is pushed upward or downward by a lower leg.