WO2016002200A1 - Rehabilitation system and method for controlling rehabilitation system - Google Patents

Rehabilitation system and method for controlling rehabilitation system Download PDF

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Publication number
WO2016002200A1
WO2016002200A1 PCT/JP2015/003272 JP2015003272W WO2016002200A1 WO 2016002200 A1 WO2016002200 A1 WO 2016002200A1 JP 2015003272 W JP2015003272 W JP 2015003272W WO 2016002200 A1 WO2016002200 A1 WO 2016002200A1
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WIPO (PCT)
Prior art keywords
control
exercise
patient
rehabilitation system
rehabilitation
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PCT/JP2015/003272
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French (fr)
Japanese (ja)
Inventor
潤一 牛場
幸治 森川
幹生 岩川
平田　昭夫
Original Assignee
学校法人 慶應義塾
パナソニック株式会社
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Application filed by 学校法人 慶應義塾, パナソニック株式会社 filed Critical 学校法人 慶應義塾
Publication of WO2016002200A1 publication Critical patent/WO2016002200A1/en

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    • 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
    • A61B5/369—Electroencephalography [EEG]
    • 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
    • A61B5/369—Electroencephalography [EEG]
    • A61B5/377—Electroencephalography [EEG] using evoked responses
    • 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

Definitions

  • the present invention relates to a rehabilitation system for giving a stimulus to a patient based on an electroencephalogram and a control method thereof.
  • the rehabilitation system of Patent Document 1 includes an electroencephalogram measurement device, a body drive device that moves the limbs of a patient, and a control device.
  • the control device detects an ERD indicating the expression of the exercise plan by the electroencephalogram measurement device, and drives the body drive device based on the detected ERD.
  • the patient needs to appropriately express an exercise plan.
  • the patient may not be able to properly express the exercise plan, and training for the expression of the exercise plan must be provided to the patient.
  • the electroencephalogram changes frequently, ERD is often misdetected, and the body drive device is erroneously driven each time. For this reason, the malfunction of the body drive device is troublesome for the patient, and there is a possibility that the effect of rehabilitation is reduced.
  • a rehabilitation system includes an electroencephalogram measurement device, an information presentation device configured to present information including feedback information to a patient, and an electrical stimulus and a mechanical stimulus attached to the patient.
  • a signal related to the exercise plan is extracted from the electroencephalogram measured by the electroencephalogram measuring apparatus and the electric brace configured to give at least one of the patient, and the exercise plan has been correctly expressed based on at least the signal
  • a control device configured to change the control of the electric appliance when judged;
  • the schematic diagram of the rehabilitation system of embodiment The block diagram of a rehabilitation system.
  • the schematic diagram for demonstrating the repetition of a training sequence The schematic diagram of the screen displayed during a rest period. Schematic diagram of the screen displayed during the planning period.
  • the flowchart of the control method of an electric equipment The block diagram of the rehabilitation system of a reference example.
  • the rehabilitation system 1 includes an electroencephalogram measurement apparatus 10, an information presentation apparatus 20, an electric appliance 30, an operation unit 40, and a control apparatus 50.
  • the electroencephalogram measurement apparatus 10 can have a headphone shape suitable for mounting on a patient's head, and includes a plurality of electrodes 11, an electroencephalogram measurement unit 12, and an electroencephalogram transmission unit 13.
  • the plurality of electrodes 11 are arranged, for example, by an arch-shaped elastic head mount so that when the patient wears the electroencephalogram measuring apparatus 10 on the head, the electrodes 11 are arranged at positions suitable for the measurement of the electroencephalogram related to the patient's motion plan. Supported.
  • the plurality of electrodes 11 are, for example, a left motor area that controls the voluntary movement of the patient's right body, and a position where the voluntary movement of the patient's left body can correspond to the right motor area.
  • the electroencephalogram measurement apparatus 10 may have a so-called headset shape including the electrodes 11 corresponding to only one motor area.
  • the electroencephalogram measurement unit 12 measures the electroencephalogram by amplifying the potential difference between two of the electrodes 11.
  • the electroencephalogram transmission unit 13 transmits an electroencephalogram signal including the electroencephalogram measured by the electroencephalogram measurement unit 12 to the electroencephalogram reception unit 51 of the control device 50.
  • the information presentation device 20 may be simply referred to as a presentation device.
  • the presentation device 20 includes a speaker 21 as an acoustic output device and an image display unit 22 as a visual output device.
  • the speaker 21 presents sound and voice to the patient based on the acoustic signal from the control device 50.
  • the image display unit 22 presents visual information to the patient based on a control signal from the control device 50.
  • the information presented to the patient includes instruction information regarding an instruction as to what rehabilitation exercise the patient should attempt, and feedback information indicating whether the patient is attempting according to the instruction.
  • the electric appliance 30 includes an appliance 31 to be attached to a patient's finger and arm, a motor 32, and a muscle stimulation electrode 33.
  • the motor 32 is attached near the elbow of the appliance 31.
  • the output shaft of the motor 32 and the back portion of the finger of the appliance 31 are connected by a wire (not shown). As the motor 32 rotates, the finger of the patient wearing the brace 31 is pulled by the wire, a mechanical stimulus is applied to the finger, and the patient's finger is moved in a passive manner.
  • the muscle stimulation electrode 33 is configured to give muscle stimulation to the patient's forearm.
  • the muscle stimulation electrode 33 gives electrical stimulation to the patient's forearm by current control between the electrodes 33 by the muscle stimulation control unit 59 (see FIG. 2) of the control device 50 controlled based on the timing of ERD detection. This electrical stimulation becomes muscle stimulation of the patient's forearm.
  • the passive movement accompanying the muscle stimulation and the control of the motor 32 becomes somatosensory feedback to the patient.
  • the operation unit 40 is configured as, for example, a mouse or a touch panel.
  • a rehabilitation assistant for example, an occupational therapist, registers various information about the patient in the control device 50 via the operation unit 40 or inputs an instruction to start or stop training for the control device 50.
  • the operation unit 40 is configured as a touch panel, it can be integrated with the presentation device 20.
  • the control apparatus 50 includes an electroencephalogram reception unit 51, an ERD detection unit 52, a detection rate calculation unit 53, a training timing control unit 54, a feedback control unit 55, an orthosis control unit 56, a presentation control unit 57, a motor control unit 58, and a muscle.
  • a stimulus control unit 59 is provided.
  • the control device 50 can be a so-called microcomputer including an electronic circuit.
  • the control device 50 can include a ROM (Read Only Memory) in which various control programs are stored and a CPU (Central Processing Unit) that can access the ROM.
  • ROM Read Only Memory
  • CPU Central Processing Unit
  • the control device 50 causes the patient to perform a training in which a resting state and an expression of an exercise plan are alternately performed at predetermined time intervals by an operation from the operation unit 40 and a control to the presentation device 20 and the electric appliance 30. .
  • ⁇ Rehabilitation training is started by a start instruction from the operation unit 40.
  • a start instruction is input from the operation unit 40 to the training timing control unit 54 by the operation of the occupational therapist, and a series of training processes is executed.
  • one rehabilitation exercise (hereinafter referred to as “training sequence”) includes a rest period and an intention period during which an exercise intention is expressed.
  • the rest period the patient is required to relax and not recall specific thoughts.
  • the planning period the patient is required to express an exercise plan.
  • the planning period may be referred to as an exercise planning period.
  • the length of the rest period and the planning period is set, for example, to 5 seconds each.
  • training progresses by alternately performing rest periods and exercise planning periods. For example, a training time of about 40 minutes is set per day, and the control device 50 repeats the training sequence a plurality of times. In other words, the training sequence is executed until the predetermined training time per day ends. For one patient, this training is performed for 10 days, for example, as a rehabilitation training.
  • the training timing control unit 54 shown in FIG. 2 transmits the switching timing between the rest period and the exercise planning period to the presentation control unit 57.
  • the presentation control unit 57 presents the timing to the patient via the image display unit 22 and the speaker 21.
  • FIG. 4 shows an example of information displayed on the image display unit 22.
  • a rest period frame 23 indicating a rest period and an intention period frame 24 indicating an intention period are displayed side by side on the same time axis.
  • the passage of time is displayed by vertical lines 25 that move from left to right with time.
  • the request contents for the patient are also displayed in the message box 26.
  • the message box 26 displays a message such as “Please relax” during the rest period.
  • the message box 26 displays a message such as “Please plan your exercise” during the planning period.
  • the image display unit 22 displays a message such as “Please plan your exercise” in the message box 26 when the rest period is switched to the planning period.
  • the time when the vertical line 25 reaches the planning period frame 24 indicates the time when the rest period is switched to the planning period.
  • the image display unit 22 is configured to visually output a motion recall request that requests the patient to start and / or continue a predetermined motion recall.
  • the speaker 21 in the presentation device 20 shown in FIG. 1 may present different notification sounds at the start timing of the rest period and the start timing of the planning period. In this case, the patient can audibly recognize the switching between the rest period and the planning period. As described above, the speaker 21 is configured to acoustically output an exercise intention request that requests the patient to start and / or continue a predetermined exercise recall.
  • the electroencephalogram reception unit 51 receives an electroencephalogram from the electroencephalogram transmission unit 13. At the same time, the brain wave training timing from the training timing control unit 54 is received.
  • the electroencephalogram measurement apparatus 10 always measures an electroencephalogram and transmits an electroencephalogram signal during the training period.
  • the electroencephalogram reception unit 51 can extract the electroencephalogram during the rest period and the electroencephalogram during the planning period from the electroencephalogram signal based on the training timing.
  • the ERD detection unit 52 detects an ERD signal that is a signal related to the exercise plan from the brain wave during the rest period and the brain wave during the planning period.
  • the ERD is an electroencephalogram that changes due to the expression of the exercise intention, and is uniquely generated when the exercise intention is expressed.
  • the ERD signal is not detected during the rest period, and the ERD signal is detected only during the intention period. For example, based on the generation timing of the ERD signal and the training timing, it can be determined whether or not the exercise plan has been correctly expressed.
  • the ERD signal is obtained by the time change of the frequency power of the electroencephalogram. In a predetermined time range, if a change in frequency power at a specific frequency, for example, around 10 Hz, is continuously observed for a predetermined time, it is determined that an ERD signal has been detected.
  • feedback information for the patient is created by the feedback control unit 55.
  • the feedback information is displayed on the screen of the image display unit 22 via the presentation control unit 57 (for example, the band 27 in FIG. 5) or is acoustically output from the speaker 21.
  • the detection rate calculation unit 53 calculates the ERD detection rate based on the number of executed training sequences and the number of ERD signal detections.
  • the training content of the electric appliance 30 is determined based on the ERD detection rate calculated by the detection rate calculation unit 53. Specifically, when the ERD detection rate obtained by the detection rate calculation unit 53 is lower than the threshold value, the motor control unit 58 and the muscle stimulation control unit 59 are not controlled via the appliance control unit 56, and the ERD is not performed. Only when the detection rate is higher than the threshold value, the control of the motor control unit 58 and the muscle stimulation control unit 59 via the appliance control unit 56 is executed based on the detection result of the ERD detection unit 52.
  • the control device 50 starts training control by operating the operation unit 40.
  • the training timing control unit 54 sends an instruction to the presentation control unit 57 so that the training sequence of the rest period and the planning period can be repeatedly presented.
  • the presentation control unit 57 causes the image display unit 22 to display that training is being performed using a graph or the like.
  • the presentation control unit 57 creates presentation information and causes the speaker 21 to present a notification sound.
  • the patient recognizes that it has shifted to the planning period from at least one of the notification sound from the speaker 21 and the display content of the image display unit 22, and expresses the exercise plan.
  • the calculation result 28 of the ERD attenuation rate is continuously displayed by the graph, and the ERD is detected when the ERD attenuation rate is not less than a certain value.
  • the time interval is additionally displayed on the image display unit 22 as visual feedback information such as the band 27, for example. Further, the auditory feedback information that the ERD has been detected is notified.
  • the visual feedback information from the image display unit 22 and the auditory feedback information from the speaker 21 may be referred to as feedback not via the electric appliance 30, that is, non-somatosensory feedback.
  • the electric brace 30 When ERD is detected, the electric brace 30 provides somatosensory feedback to the patient. Whether or not this somatic sensory feedback is actually given is determined by the determination of the detection rate calculation unit 53 and the appliance control unit 56.
  • one training sequence is started in a state where the patient pinches the peg P on the finger on which the electric appliance 30 is mounted. For this reason, when the ERD signal is detected, the finger is extended by the control of the motor 32 of the electric appliance 30 and the peg P falls. At this time, feedback from the muscle is given to the nerve function related to finger extension, and recovery of the nerve function is promoted. Further, as the electric appliance 30 is driven, the muscle stimulation electrode 33 applies electrical stimulation to muscles related to finger extension, for example, the total finger extensor muscles. For this reason, feedback from the muscle is given to the nerve function related to finger extension, and the recovery of the nerve function is promoted.
  • step S11 the ERD detection unit 52 counts the number of correct exercise plans, that is, the number of correctly detected ERD signals, from the already executed training sequence. Specifically, when the ERD is not detected in the rest period of one training sequence and the ERD signal is detected in the planning period, the number of detections of the correct ERD signal is “1”.
  • the ERD detection unit 52 calculates the ERD detection rate using the correct ERD signal counted in step S11 in step S12.
  • the detection rate calculation unit 53 calculates the number of detections of the correct ERD signal with respect to the number of sequences executed in the same patient as the ERD detection rate.
  • the feedback control unit 55 determines in step S13 whether or not the ERD detection rate is equal to or higher than a threshold value. When it is determined that the ERD detection rate is equal to or greater than the threshold, the feedback control unit 55 determines whether or not the training set has been executed a predetermined number of times or more in step S14. When it is determined that the training set has been executed a predetermined number of times or more, the feedback control unit 55 determines in step S15 that exercise planning has been sufficiently trained, and somatosensory feedback by the electric brace is effective, and motor control is performed. The activation control of the electric appliance 30 is performed via the unit 58 and the muscle stimulation control unit 59, and this process is terminated.
  • the activation control of the electric appliance 30 is to turn on the motor 32 at the timing when the ERD signal is detected to extend the finger and simultaneously perform muscle stimulation from the muscle stimulation electrode 33.
  • the electric appliance 30 may not be driven.
  • step S13 when the feedback control unit 55 determines in step S13 that the ERD detection rate is less than the threshold value and in step S14, it is determined that the training set has not been executed a predetermined number of times or more, in step S16, the exercise attempt is performed. It is determined that there is a possibility that the somatosensory feedback by the electric brace 30 may hinder the exercise training, and this processing is performed without controlling the activation of the electric brace 30. finish.
  • the rehabilitation system 1 has the following operations and effects. (1) The difference between the rehabilitation system 1 of embodiment and the rehabilitation system of the reference example shown in FIG. 7 is demonstrated.
  • the rehabilitation system of the reference example shown in FIG. 7 is different from the rehabilitation system 1 of the embodiment in that the detection rate calculation unit 53 and the appliance control unit 56 are not provided.
  • the ERD detection unit 52 detects ERD
  • the feedback control unit 55 directly controls the presentation device 20 and the electric appliance 30 as they are.
  • all the feedback including somatosensory feedback by the electric appliance 30 is given in all cases where the ERD signal is detected even in the initial stage of training in which the ERD signal is likely to be erroneously determined. For this reason, when the detection of the ERD signal is determined without accompanying the exercise intention, there is a possibility that the exercise training for expressing the exercise intention may be confused.
  • the control device 50 of the rehabilitation system 1 of the embodiment extracts an ERD signal related to the exercise plan from the electroencephalogram measured by the electroencephalogram measurement device 10, and determines that the exercise plan has been correctly expressed based on at least the ERD signal. It is sometimes configured to change the control of the electric appliance 30.
  • the control device 50 switches feedback to the patient depending on whether the ERD detection rate is lower or higher than a predetermined value. That is, it can be said that the control device 50 provides two-stage feedback to the patient. For this reason, the control device 50 performs the first stage control in which the feedback by only the presentation device 20 is performed but the feedback by the electric appliance 30 is not performed in the initial stage of the training. Second stage control is performed in which feedback is provided by both of the appliances 30.
  • this two-stage control corresponds to the rehabilitation training process.
  • the expression of motor intentions is mainly targeted for training, and after that, the expression of motor plans can be expressed.
  • the association is trained.
  • control suitable for these two stages is possible.
  • the control device 50 switches from the first stage control to the second stage control based on the ERD detection rate using the number of detections of the ERD signal.
  • the training stage of the patient estimated to be able to appropriately express the exercise plan is automatically shifted to the second stage, so that the rehabilitation effect can be enhanced.
  • the accuracy of the ERD detection rate is low in the early stages of training, and it is considered that more than a certain amount of training is necessary in order to be able to express exercise plans stably. For this reason, the control device 50 executes the first stage control until the ERD detection rate exceeds the threshold and the number of exercises reaches a predetermined number, the number of exercises reaches the predetermined number, and the exercise The process shifts to the second stage control based on the detection rate of the intentional expression exceeding the threshold. For this reason, it can be estimated more appropriately that the patient can appropriately express the exercise plan.
  • the control device 50 shifts to the first stage control when the ERD detection rate falls below a threshold value that is a determination value. For this reason, after shifting to the second stage control, the first stage control is executed again when the patient is unable to successfully express the exercise plan again. For this reason, it is suppressed that the rehabilitation suitable for a patient's condition is performed.
  • the rehabilitation system 1 of the present invention is not limited to the above embodiment, and may be modified as follows, for example. Several modifications may be combined as appropriate within the technically possible range.
  • the ERD detection rate can also be calculated as in (A) or (B) below.
  • (A) When the ERD signal is detected in the planning period of one training sequence, the control device 50 sets the number of times of detection of the correct ERD signal to “1” and stores the memory (not shown) in the ERD detection unit 52. To remember. And the control apparatus 50 calculates the total number of the detection frequency of the correct ERD signal with respect to the number of training sequences performed in the same patient as an ERD detection rate.
  • the control device 50 determines the correct ERD signal.
  • the number of detections is set to “1” and stored in a memory (not shown) inside the ERD detection unit 52.
  • the control apparatus 50 calculates the total number of the detection frequency of the correct ERD signal with respect to twice the number of training sequences performed in the same patient as an ERD detection rate.
  • the first training control can be shifted to the second training control.
  • the control apparatus 50 can also display an ERD detection rate by the image display part 22, as shown in FIG. In this case, since the patient can grasp his / her ERD detection rate, the improvement of the rehabilitation effect can be expected. In addition, the ERD detection rate can be notified for each training set by the speaker 21.
  • the threshold value used in step S13 of the transition control can be set to a different value when the first stage control is being executed and when the second stage control is being executed. For example, in step S13, when executing the first stage control, the control device 50 proceeds to step S16 when the ERD detection rate is less than the threshold value, and when executing the second stage control, the control apparatus 50 exceeds the threshold value. When the value falls below the large determination value, the process proceeds to step S16.
  • the presentation device 20 can also indicate that the control device 50 shifts from the first step control to the second step control. In this case, the patient can recognize that the electric brace 30 is driven from the next training set.
  • the electric appliance 30 can be driven.
  • the driving amount of the electric brace 30, that is, the amount by which the limb is moved is made smaller than the driving amount in the second step control, thereby emphasizing the expression of the exercise plan rather than executing the second step control.
  • the first stage only one of the muscle stimulation by the muscle stimulation electrode 33 and the passive movement by the motor 32 is executed.
  • the second stage both the muscle stimulation by the muscle stimulation electrode 33 and the passive movement by the motor 32 are performed. It can also be executed.
  • EEG reception unit 51, ERD detection unit 52, detection rate calculation unit 53, training timing control unit 54, feedback control unit 55, orthosis control unit 56, presentation control unit 57, motor control unit 58, and muscle stimulation control unit 59 May be hardware, and may be realized in software by the CPU executing a control program stored in the ROM.
  • EEG reception unit 51, ERD detection unit 52, detection rate calculation unit 53, training timing control unit 54, feedback control unit 55, orthosis control unit 56, presentation control unit 57, motor control unit 58, and muscle stimulation control unit 59 May be realized by one processor which may be the control device 50, or may be realized by a plurality of processors included in the control device 50.

Abstract

A rehabilitation system is provided with a brain wave measurement device (10), a presentation device (20), an electric tool (30), and a control device (50). The brain wave measurement device (10) supplies a measurement result to the control device (50). The control device (50) is configured so as to present information to a patient via the presentation device (20) and apply at least one of electrical stimulation and mechanical stimulation to the patient via the electric tool (30). The control device (50) extracts an ERD signal that is related to an exercise plan from a brain wave measured by the brain wave measurement device (10) and changes the control of the electric tool (30) when it is determined on the basis of at least the ERD signal that an activation of the motor cortex that is associated with the exercise plan has occurred.

Description

リハビリテーションシステムおよびリハビリテーションシステムの制御方法Rehabilitation system and control method of rehabilitation system
　本発明は、脳波に基づいて患者に刺激を与えるリハビリテーションシステム、および、その制御方法に関する。 The present invention relates to a rehabilitation system for giving a stimulus to a patient based on an electroencephalogram and a control method thereof.
　従来、脳卒中等により体肢に麻痺を生じた患者を回復させるために、脳波に基づいて体肢を動作させるリハビリテーションが知られている。このリハビリテーションにおいては、患者が体肢を動作させようとする運動企図の表出を示す脳波の変化、例えば、事象関連脱同期（event-related desynchronization；ＥＲＤ）に合わせて身体駆動装置が体肢を動作させることにより、リハビリテーションの効果が高まることが知られている（例えば、非特許文献１）。 Conventionally, rehabilitation for moving a limb based on an electroencephalogram is known in order to recover a patient who has been paralyzed by a stroke or the like. In this rehabilitation, the body drive device moves the limb in response to a change in the electroencephalogram that indicates the expression of an attempt to move the limb by the patient, for example, event-related desynchronization (ERD). It is known that the effect of rehabilitation is enhanced by operating (for example, Non-Patent Document 1).
　特許文献１のリハビリテーションシステムは、脳波測定装置、患者の体肢を動作させる身体駆動装置、および、制御装置を備えている。制御装置は、運動企図の表出を示すＥＲＤを脳波測定装置によって検出し、検出されたＥＲＤに基づいて身体駆動装置を駆動させる。 The rehabilitation system of Patent Document 1 includes an electroencephalogram measurement device, a body drive device that moves the limbs of a patient, and a control device. The control device detects an ERD indicating the expression of the exercise plan by the electroencephalogram measurement device, and drives the body drive device based on the detected ERD.
特開２０１２－２１７７２１号公報JP 2012-217721 A
　特許文献１に示される脳波に基づくリハビリテーション方法では、患者は運動企図を適切に表出する必要がある。しかしながら、患者がリハビリテーションになれていないリハビリテーションの初期においては、患者が適切に運動企図を表出できないことがあり、運動企図の表出のための訓練を患者に提供しなければならない。運動企図の表出が正しく行えない状況では、脳波が頻繁に変化し、ＥＲＤがしばしば誤検出されて、そのたびに身体駆動装置が誤って駆動される。このため、身体駆動装置の誤動作は患者にとって煩わしく、リハビリテーションの効果を低下させるおそれがある。 In the rehabilitation method based on the electroencephalogram disclosed in Patent Document 1, the patient needs to appropriately express an exercise plan. However, in the early stage of rehabilitation where the patient is not in rehabilitation, the patient may not be able to properly express the exercise plan, and training for the expression of the exercise plan must be provided to the patient. In situations where the representation of the exercise attempt cannot be performed correctly, the electroencephalogram changes frequently, ERD is often misdetected, and the body drive device is erroneously driven each time. For this reason, the malfunction of the body drive device is troublesome for the patient, and there is a possibility that the effect of rehabilitation is reduced.
　本発明の目的は、リハビリテーションの効果を高めることができるリハビリテーションシステムおよびリハビリテーションシステムの制御方法を提供することである。
　本発明の一側面に従うリハビリテーションシステムは、脳波測定装置と、患者に対してフィードバック情報を含む情報を提示するように構成される情報提示装置と、患者に装着されて、電気的刺激および力学的刺激の少なくとも一方を患者に与えるように構成される電動装具と、前記脳波測定装置によって計測された脳波から運動企図に関連した信号を抽出し、少なくともその信号に基づいて運動企図が正しく表出できたと判断したときに前記電動装具の制御を変更するように構成される制御装置を備える。 The objective of this invention is providing the control method of the rehabilitation system which can improve the effect of rehabilitation, and a rehabilitation system.
A rehabilitation system according to one aspect of the present invention includes an electroencephalogram measurement device, an information presentation device configured to present information including feedback information to a patient, and an electrical stimulus and a mechanical stimulus attached to the patient. A signal related to the exercise plan is extracted from the electroencephalogram measured by the electroencephalogram measuring apparatus and the electric brace configured to give at least one of the patient, and the exercise plan has been correctly expressed based on at least the signal A control device configured to change the control of the electric appliance when judged;
　本発明の一側面によれば、リハビリテーションの効果を高めることができるリハビリテーションシステムを提供することができる。本発明の他の側面及び利点は本発明の技術的思想の例を示す図面と共に以下の記載から明らかとなる。 According to one aspect of the present invention, it is possible to provide a rehabilitation system that can enhance the effect of rehabilitation. Other aspects and advantages of the present invention will become apparent from the following description taken in conjunction with the drawings which illustrate examples of the technical idea of the present invention.
実施形態のリハビリテーションシステムの模式図。The schematic diagram of the rehabilitation system of embodiment. リハビリテーションシステムのブロック図。The block diagram of a rehabilitation system. 訓練シーケンスの繰り返しを説明するための模式図。The schematic diagram for demonstrating the repetition of a training sequence. 安静期間に表示される画面の模式図。The schematic diagram of the screen displayed during a rest period. 企図期間に表示される画面の模式図。Schematic diagram of the screen displayed during the planning period. 電動装具の制御方法のフローチャート。The flowchart of the control method of an electric equipment. 参考例のリハビリテーションシステムのブロック図。The block diagram of the rehabilitation system of a reference example. 変形例のリハビリテーションシステムの訓練履歴の表示例を示す模式図。The schematic diagram which shows the example of a display of the training log | history of the rehabilitation system of a modification.
　以下、運動療法によるリハビリテーションの際に、脳波解析に基づいて、随意運動を補助するために用いられるリハビリテーションシステム、および、リハビリテーションシステムの制御方法について説明する。 Hereinafter, the rehabilitation system used for assisting voluntary movement and the control method of the rehabilitation system based on the electroencephalogram analysis during rehabilitation by exercise therapy will be described.
　図１に示されるように、実施形態に従うリハビリテーションシステム１は、脳波測定装置１０、情報提示装置２０、電動装具３０、操作部４０、および、制御装置５０を備えている。 1, the rehabilitation system 1 according to the embodiment includes an electroencephalogram measurement apparatus 10, an information presentation apparatus 20, an electric appliance 30, an operation unit 40, and a control apparatus 50.
　脳波測定装置１０は、患者の頭への装着に適するヘッドホン形状を有することができ、複数の電極１１、脳波計測部１２、および、脳波送信部１３を備えている。
　複数の電極１１は、患者が脳波測定装置１０を頭部に装着したときに、患者の運動企図に関連する脳波の測定に適した位置に配置されるように、例えばアーチ形の弾性ヘッドマウントによって支持される。複数の電極１１は、例えば、患者の右半身の随意運動を支配する左運動野、および、患者の左半身の随意運動を右運動野に対応できる位置（脳波電極の指定方法である国際１０－２０法におけるＣ４、Ｃ３の位置）に配置することが好ましい。電極１１の配置を左運動野および右運動野のそれぞれと対応させることにより、同一のリハビリテーションシステム１を左半身の麻痺を有する患者および右半身の麻痺を有する患者の両方に用いることができる。なお、軽量化、簡易装着等の観点から、脳波測定装置１０は、片側の運動野のみに対応する電極１１を備えるいわゆるヘッドセット形状を有してもよい。 The electroencephalogram measurement apparatus 10 can have a headphone shape suitable for mounting on a patient's head, and includes a plurality of electrodes 11, an electroencephalogram measurement unit 12, and an electroencephalogram transmission unit 13.
The plurality of electrodes 11 are arranged, for example, by an arch-shaped elastic head mount so that when the patient wears the electroencephalogram measuring apparatus 10 on the head, the electrodes 11 are arranged at positions suitable for the measurement of the electroencephalogram related to the patient's motion plan. Supported. The plurality of electrodes 11 are, for example, a left motor area that controls the voluntary movement of the patient's right body, and a position where the voluntary movement of the patient's left body can correspond to the right motor area. It is preferable to arrange them at positions C4 and C3) in the 20 method. By making the arrangement of the electrodes 11 correspond to each of the left motor area and the right motor area, the same rehabilitation system 1 can be used for both a patient having left-side paralysis and a patient having right-side paralysis. Note that, from the viewpoint of weight reduction, simple wearing, and the like, the electroencephalogram measurement apparatus 10 may have a so-called headset shape including the electrodes 11 corresponding to only one motor area.
　脳波計測部１２は、電極１１のうちの２つの電極間の電位差を増幅して脳波を計測する。脳波送信部１３は、脳波計測部１２にて計測された脳波を含む脳波信号を制御装置５０の脳波受信部５１に送信する。 The electroencephalogram measurement unit 12 measures the electroencephalogram by amplifying the potential difference between two of the electrodes 11. The electroencephalogram transmission unit 13 transmits an electroencephalogram signal including the electroencephalogram measured by the electroencephalogram measurement unit 12 to the electroencephalogram reception unit 51 of the control device 50.
　情報提示装置２０は、単に提示装置と呼ぶことがある。提示装置２０は、音響的出力装置としてのスピーカー２１および視覚的出力装置としての画像表示部２２を備えている。スピーカー２１は、制御装置５０からの音響信号に基づいて、患者に音および音声を提示する。画像表示部２２は、制御装置５０からの制御信号に基づいて、患者に視覚情報を提示する。患者に提示される情報は、患者がどのようなリハビリテーション運動を企図すれば良いかの指示に関する指示情報と、患者が指示通りに企図できているかのフィードバック情報とを含む。 The information presentation device 20 may be simply referred to as a presentation device. The presentation device 20 includes a speaker 21 as an acoustic output device and an image display unit 22 as a visual output device. The speaker 21 presents sound and voice to the patient based on the acoustic signal from the control device 50. The image display unit 22 presents visual information to the patient based on a control signal from the control device 50. The information presented to the patient includes instruction information regarding an instruction as to what rehabilitation exercise the patient should attempt, and feedback information indicating whether the patient is attempting according to the instruction.
　電動装具３０は、患者の指および腕に装着される装具３１、モータ３２、および、筋刺激電極３３を備えている。モータ３２は、装具３１の肘付近に取り付けられている。モータ３２の出力軸と装具３１の指の背の部分とは、図示しないワイヤーにより接続されている。モータ３２が回転することにより、装具３１を装着した患者の指がワイヤーにより引っ張られ、指に力学的な刺激が与えられ、患者の指が他動的に運動させられる。 The electric appliance 30 includes an appliance 31 to be attached to a patient's finger and arm, a motor 32, and a muscle stimulation electrode 33. The motor 32 is attached near the elbow of the appliance 31. The output shaft of the motor 32 and the back portion of the finger of the appliance 31 are connected by a wire (not shown). As the motor 32 rotates, the finger of the patient wearing the brace 31 is pulled by the wire, a mechanical stimulus is applied to the finger, and the patient's finger is moved in a passive manner.
　筋刺激電極３３は、患者の前腕部に筋刺激を与えるように構成される。筋刺激電極３３は、ＥＲＤ検出のタイミングに基づいて制御される制御装置５０の筋刺激制御部５９（図２参照）による電極３３間の電流制御によって患者の前腕部に電気的な刺激を与える。この電気的な刺激が患者の前腕部の筋刺激となる。筋刺激およびモータ３２の制御にともなう他動的な運動は、患者への体性感覚フィードバックとなる。 The muscle stimulation electrode 33 is configured to give muscle stimulation to the patient's forearm. The muscle stimulation electrode 33 gives electrical stimulation to the patient's forearm by current control between the electrodes 33 by the muscle stimulation control unit 59 (see FIG. 2) of the control device 50 controlled based on the timing of ERD detection. This electrical stimulation becomes muscle stimulation of the patient's forearm. The passive movement accompanying the muscle stimulation and the control of the motor 32 becomes somatosensory feedback to the patient.
　操作部４０は、例えば、マウスやタッチパネル等として構成される。リハビリテーションの補助者、例えば作業療法士は、操作部４０を介して患者に関する各種情報を制御装置５０に登録したり、制御装置５０に対する訓練の開始や停止の指示を入力したりする。操作部４０がタッチパネルとして構成される場合には、提示装置２０に一体化することもできる。 The operation unit 40 is configured as, for example, a mouse or a touch panel. A rehabilitation assistant, for example, an occupational therapist, registers various information about the patient in the control device 50 via the operation unit 40 or inputs an instruction to start or stop training for the control device 50. When the operation unit 40 is configured as a touch panel, it can be integrated with the presentation device 20.
　図２を参照して、制御装置５０について説明する。制御装置５０は、脳波受信部５１、ＥＲＤ検出部５２、検出率演算部５３、訓練タイミング制御部５４、フィードバック制御部５５、装具制御部５６、提示制御部５７、モータ制御部５８、および、筋刺激制御部５９を備えている。制御装置５０は、電子回路を含むいわゆるマイクロコンピューターであり得る。制御装置５０は、各種制御プログラムが格納されたＲＯＭ（Read Only Memory）及びＲＯＭにアクセス可能なＣＰＵ(Central Processing Unit）を含むことができる。 The control apparatus 50 will be described with reference to FIG. The control device 50 includes an electroencephalogram reception unit 51, an ERD detection unit 52, a detection rate calculation unit 53, a training timing control unit 54, a feedback control unit 55, an orthosis control unit 56, a presentation control unit 57, a motor control unit 58, and a muscle. A stimulus control unit 59 is provided. The control device 50 can be a so-called microcomputer including an electronic circuit. The control device 50 can include a ROM (Read Only Memory) in which various control programs are stored and a CPU (Central Processing Unit) that can access the ROM.
　制御装置５０は、操作部４０からの操作と、提示装置２０、電動装具３０への制御とによって、安静状態と運動企図の表出とを交互に所定の時間間隔で行う訓練を患者に実行させる。 The control device 50 causes the patient to perform a training in which a resting state and an expression of an exercise plan are alternately performed at predetermined time intervals by an operation from the operation unit 40 and a control to the presentation device 20 and the electric appliance 30. .
　リハビリテーションの訓練は、操作部４０からの開始指示によって開始される。作業療法士の操作により操作部４０から開始指示が訓練タイミング制御部５４に入力され、一連の訓練のプロセスが実行される。 リ Rehabilitation training is started by a start instruction from the operation unit 40. A start instruction is input from the operation unit 40 to the training timing control unit 54 by the operation of the occupational therapist, and a series of training processes is executed.
　図３に示すように、リハビリテーションの１回の訓練（以下、「訓練シーケンス」）は安静期間と運動企図の表出を行う企図期間とを含んで構成される。安静期間では、患者はリラックスして特定の思考を想起しないことが求められる。一方、企図期間では、患者は運動企図を表出することが求められる。企図期間は、運動企図期間と呼ぶことがある。安静期間および企図期間の長さは、例えば、各５秒間に設定される。 As shown in FIG. 3, one rehabilitation exercise (hereinafter referred to as “training sequence”) includes a rest period and an intention period during which an exercise intention is expressed. During the rest period, the patient is required to relax and not recall specific thoughts. On the other hand, during the planning period, the patient is required to express an exercise plan. The planning period may be referred to as an exercise planning period. The length of the rest period and the planning period is set, for example, to 5 seconds each.
　そして、安静期間と運動企図期間を交互に行うことで訓練が進行する。１日あたり、例えば４０分程度の訓練時間が設定され、その中で制御装置５０は、上記訓練シーケンスを複数回繰り返す。換言すれば、１日あたり所定の訓練時間が終了するまで訓練シーケンスが実行される。患者１名に対しては、この訓練を例えば１０日間にわたって実行することでリハビリテーションの訓練とする。 And training progresses by alternately performing rest periods and exercise planning periods. For example, a training time of about 40 minutes is set per day, and the control device 50 repeats the training sequence a plurality of times. In other words, the training sequence is executed until the predetermined training time per day ends. For one patient, this training is performed for 10 days, for example, as a rehabilitation training.
　図２に示される訓練タイミング制御部５４は、安静期間と運動企図期間との切り替えタイミングを提示制御部５７に伝達する。提示制御部５７は、患者に対して画像表示部２２およびスピーカー２１を介してそのタイミングを提示する。 The training timing control unit 54 shown in FIG. 2 transmits the switching timing between the rest period and the exercise planning period to the presentation control unit 57. The presentation control unit 57 presents the timing to the patient via the image display unit 22 and the speaker 21.
　図４に、画像表示部２２に表示される情報の例を示す。画像表示部２２には、安静期間を示す安静期間枠２３と、企図期間を示す企図期間枠２４とが同じ時間軸上に並べられて表示される。時間の経過は、時間とともに左から右に移動する縦線２５によって表示される。また、患者に対する要請内容はメッセージボックス２６にも表示される。メッセージボックス２６は、安静期間には「リラックスしてください」等のメッセージを表示する。また、図５に示すように、メッセージボックス２６は、企図期間には「運動を企図してください」等のメッセージを表示する。 FIG. 4 shows an example of information displayed on the image display unit 22. On the image display unit 22, a rest period frame 23 indicating a rest period and an intention period frame 24 indicating an intention period are displayed side by side on the same time axis. The passage of time is displayed by vertical lines 25 that move from left to right with time. The request contents for the patient are also displayed in the message box 26. The message box 26 displays a message such as “Please relax” during the rest period. In addition, as shown in FIG. 5, the message box 26 displays a message such as “Please plan your exercise” during the planning period.
　画像表示部２２は、安静期間から企図期間に切り替わった時点で、「運動を企図してください」等のメッセージをメッセージボックス２６に表示する。また、縦線２５が企図期間枠２４に達した時点は、安静期間から企図期間に切り替わった時点を示す。このように、画像表示部２２は、患者に所定の運動想起の開始及び／または継続を要求する運動想起リクエストを視覚的に出力するように構成されている。 The image display unit 22 displays a message such as “Please plan your exercise” in the message box 26 when the rest period is switched to the planning period. The time when the vertical line 25 reaches the planning period frame 24 indicates the time when the rest period is switched to the planning period. As described above, the image display unit 22 is configured to visually output a motion recall request that requests the patient to start and / or continue a predetermined motion recall.
　また、図１に示す提示装置２０内のスピーカー２１は、安静期間の開始タイミングと、企図期間の開始タイミングとでは、異なる報知音を提示するようにしてもよい。この場合、患者は、安静期間と企図期間との切り替わりを聴覚的に認識できる。このように、スピーカー２１は患者に所定の運動想起の開始及び／または継続を要求する運動企図リクエストを音響的に出力するように構成されている。 Further, the speaker 21 in the presentation device 20 shown in FIG. 1 may present different notification sounds at the start timing of the rest period and the start timing of the planning period. In this case, the patient can audibly recognize the switching between the rest period and the planning period. As described above, the speaker 21 is configured to acoustically output an exercise intention request that requests the patient to start and / or continue a predetermined exercise recall.
　次に、図２を参照して、訓練中の運動企図の分析のための脳波解析と患者への解析結果のフィードバックについて説明する。
　脳波受信部５１は、脳波送信部１３からの脳波を受信する。また、同時に訓練タイミング制御部５４からの脳波訓練タイミングを受信する。脳波測定装置１０は、訓練期間中には常に脳波を計測して脳波信号を送信している。脳波受信部５１は、訓練タイミングに基づいて、脳波信号から安静期間の脳波と企図期間の脳波とを抽出することができる。 Next, an electroencephalogram analysis for analyzing an exercise plan during training and feedback of the analysis result to a patient will be described with reference to FIG.
The electroencephalogram reception unit 51 receives an electroencephalogram from the electroencephalogram transmission unit 13. At the same time, the brain wave training timing from the training timing control unit 54 is received. The electroencephalogram measurement apparatus 10 always measures an electroencephalogram and transmits an electroencephalogram signal during the training period. The electroencephalogram reception unit 51 can extract the electroencephalogram during the rest period and the electroencephalogram during the planning period from the electroencephalogram signal based on the training timing.
　ＥＲＤ検出部５２は、安静期間の脳波と企図期間の脳波とから、運動企図に関連した信号であるＥＲＤ信号を検出する。ＥＲＤは、運動企図の表出により変化する脳波であり、運動企図を表出しているときに特有に発生するとされる。患者が運動企図を正しく表出できている場合には、安静期間には、ＥＲＤ信号は検出されず、企図期間にのみＥＲＤ信号が検出される。例えば、ＥＲＤ信号の発生タイミングと訓練タイミングとに基づいて、運動企図が正しく表出できたかどうかを判断することができる。 The ERD detection unit 52 detects an ERD signal that is a signal related to the exercise plan from the brain wave during the rest period and the brain wave during the planning period. The ERD is an electroencephalogram that changes due to the expression of the exercise intention, and is uniquely generated when the exercise intention is expressed. When the patient can correctly express the exercise intention, the ERD signal is not detected during the rest period, and the ERD signal is detected only during the intention period. For example, based on the generation timing of the ERD signal and the training timing, it can be determined whether or not the exercise plan has been correctly expressed.
　ＥＲＤ信号は、脳波の周波数パワーの時間変化によって求められる。所定の時間範囲において、特定の周波数、例えば１０Ｈｚ付近の周波数パワーの変化が、所定の時間継続して見られた場合には、ＥＲＤ信号が検出されたと判定される。 The ERD signal is obtained by the time change of the frequency power of the electroencephalogram. In a predetermined time range, if a change in frequency power at a specific frequency, for example, around 10 Hz, is continuously observed for a predetermined time, it is determined that an ERD signal has been detected.
　ＥＲＤ信号が検出されたと判定された場合には、フィードバック制御部５５によって患者に対するフィードバック情報が作成される。フィードバック情報は提示制御部５７を経由して、画像表示部２２の画面上に表示されたり（例えば図５の帯２７）、スピーカー２１から音響的に出力されたりする。 When it is determined that the ERD signal is detected, feedback information for the patient is created by the feedback control unit 55. The feedback information is displayed on the screen of the image display unit 22 via the presentation control unit 57 (for example, the band 27 in FIG. 5) or is acoustically output from the speaker 21.
　検出率演算部５３は、実行された訓練シーケンス数とＥＲＤ信号の検出回数とに基づいてＥＲＤ検出率を演算する。検出率演算部５３により演算されたＥＲＤ検出率に基づいて電動装具３０の訓練内容を決定する。具体的には、検出率演算部５３にて求められたＥＲＤ検出率が閾値より低い場合には、装具制御部５６を介したモータ制御部５８および筋刺激制御部５９の制御が行われず、ＥＲＤ検出率が閾値より高い場合にのみ、ＥＲＤ検出部５２の検出結果に基づいて、装具制御部５６を介したモータ制御部５８および筋刺激制御部５９の制御が実行される。 The detection rate calculation unit 53 calculates the ERD detection rate based on the number of executed training sequences and the number of ERD signal detections. The training content of the electric appliance 30 is determined based on the ERD detection rate calculated by the detection rate calculation unit 53. Specifically, when the ERD detection rate obtained by the detection rate calculation unit 53 is lower than the threshold value, the motor control unit 58 and the muscle stimulation control unit 59 are not controlled via the appliance control unit 56, and the ERD is not performed. Only when the detection rate is higher than the threshold value, the control of the motor control unit 58 and the muscle stimulation control unit 59 via the appliance control unit 56 is executed based on the detection result of the ERD detection unit 52.
　以下、図１、図４および図５を参照して、訓練中の動作について説明する。
　制御装置５０は、操作部４０の操作により訓練制御を開始する。訓練タイミング制御部５４は、安静期間と企図期間との訓練シーケンスを繰り返し提示できるように、提示制御部５７に指示を送る。提示制御部５７は、図４および図５に示されるように訓練の実行中である旨をグラフ等により画像表示部２２に表示させる。安静期間の開始時と、企図期間の開始時には提示制御部５７に提示情報を作成させ、スピーカー２１に報知音を提示させる。 Hereinafter, the operation during training will be described with reference to FIGS. 1, 4, and 5.
The control device 50 starts training control by operating the operation unit 40. The training timing control unit 54 sends an instruction to the presentation control unit 57 so that the training sequence of the rest period and the planning period can be repeatedly presented. As shown in FIGS. 4 and 5, the presentation control unit 57 causes the image display unit 22 to display that training is being performed using a graph or the like. At the start of the rest period and at the start of the planning period, the presentation control unit 57 creates presentation information and causes the speaker 21 to present a notification sound.
　患者は、スピーカー２１からの報知音、および、画像表示部２２の表示内容の少なくとも一方から企図期間に移行した旨を認識し、運動企図の表出を行う。安静期間および企図期間においては、図５に示されるように、ＥＲＤの減衰率の計算結果２８がグラフによって連続的に表示され、そのＥＲＤの減衰率が一定以上の場合に、ＥＲＤが検出されたと判定し、その時間区間は例えば帯２７のような視覚フィードバック情報として画像表示部２２に追加的に表示される。また、聴覚フィードバック情報として、スピーカー２１からＥＲＤが検出された旨が報知される。画像表示部２２からの視覚フィードバック情報及びスピーカー２１からの聴覚フィードバック情報は、電動装具３０を介さないフィードバックすなわち非体性感覚フィードバックと呼ぶことがある。 The patient recognizes that it has shifted to the planning period from at least one of the notification sound from the speaker 21 and the display content of the image display unit 22, and expresses the exercise plan. In the rest period and the planning period, as shown in FIG. 5, the calculation result 28 of the ERD attenuation rate is continuously displayed by the graph, and the ERD is detected when the ERD attenuation rate is not less than a certain value. The time interval is additionally displayed on the image display unit 22 as visual feedback information such as the band 27, for example. Further, the auditory feedback information that the ERD has been detected is notified. The visual feedback information from the image display unit 22 and the auditory feedback information from the speaker 21 may be referred to as feedback not via the electric appliance 30, that is, non-somatosensory feedback.
　ＥＲＤが検出された場合には、電動装具３０が体性感覚フィードバックを患者に提供する。この体性感覚フィードバックを実際に与えるかどうかは、検出率演算部５３および装具制御部５６の判定によって決定される。 When ERD is detected, the electric brace 30 provides somatosensory feedback to the patient. Whether or not this somatic sensory feedback is actually given is determined by the determination of the detection rate calculation unit 53 and the appliance control unit 56.
　図１に示されるように、１訓練シーケンスは、患者が電動装具３０の装着された指にペグＰをつまんだ状態において開始される。このため、ＥＲＤ信号が検出されたとき、電動装具３０のモータ３２の制御により、指が伸展し、ペグＰが落ちる。このとき、指の伸展に関わる神経機能に筋肉からフィードバックが付与され、神経機能の回復が促される。また、電動装具３０の駆動とともに、筋刺激電極３３により、指の伸展に関わる筋肉、例えば、総指伸筋に電気刺激が付与される。このため、指の伸展に関わる神経機能に筋肉からのフィードバックが付与され、神経機能の回復が促される。 As shown in FIG. 1, one training sequence is started in a state where the patient pinches the peg P on the finger on which the electric appliance 30 is mounted. For this reason, when the ERD signal is detected, the finger is extended by the control of the motor 32 of the electric appliance 30 and the peg P falls. At this time, feedback from the muscle is given to the nerve function related to finger extension, and recovery of the nerve function is promoted. Further, as the electric appliance 30 is driven, the muscle stimulation electrode 33 applies electrical stimulation to muscles related to finger extension, for example, the total finger extensor muscles. For this reason, feedback from the muscle is given to the nerve function related to finger extension, and the recovery of the nerve function is promoted.
　図６を参照して、検出率演算部５３および装具制御部５６の処理手順を中心に説明する。この処理は、適切なフィードバックを与えるために、ＥＲＤ検出部５２の処理が終了した後に、毎回実施される。 Referring to FIG. 6, the processing procedure of the detection rate calculation unit 53 and the appliance control unit 56 will be mainly described. This processing is performed every time after the processing of the ERD detection unit 52 is completed in order to give appropriate feedback.
　ＥＲＤ検出部５２は、ステップＳ１１において、既に実行された訓練シーケンスの中から、正しい運動企図の表出、すなわち、正しくＥＲＤ信号が検出された数をカウントする。具体的には、１訓練シーケンスのうちの安静期間においてＥＲＤが検出されず、かつ、企図期間においてＥＲＤ信号が検出されたとき、正しいＥＲＤ信号の検出の回数を「１」とする。 In step S11, the ERD detection unit 52 counts the number of correct exercise plans, that is, the number of correctly detected ERD signals, from the already executed training sequence. Specifically, when the ERD is not detected in the rest period of one training sequence and the ERD signal is detected in the planning period, the number of detections of the correct ERD signal is “1”.
　次に、ＥＲＤ検出部５２は、ステップＳ１２においてステップＳ１１においてカウントした正しいＥＲＤ信号を用いてＥＲＤ検出率を演算する。検出率演算部５３は、同一の患者において実行されたシーケンス数に対する正しいＥＲＤ信号の検出回数をＥＲＤ検出率として演算する。 Next, the ERD detection unit 52 calculates the ERD detection rate using the correct ERD signal counted in step S11 in step S12. The detection rate calculation unit 53 calculates the number of detections of the correct ERD signal with respect to the number of sequences executed in the same patient as the ERD detection rate.
　次に、フィードバック制御部５５は、ステップＳ１３においてＥＲＤ検出率が閾値以上か否かを判定する。フィードバック制御部５５は、ＥＲＤ検出率が閾値以上である旨判定したとき、ステップＳ１４において訓練セットが所定回数以上実行されたか否かを判定する。フィードバック制御部５５は、訓練セットが所定回数以上実行された旨判定したとき、ステップＳ１５において運動企図の訓練が十分なされており、電動装具による体性感覚フィードバックが有効であると判定し、モータ制御部５８および筋刺激制御部５９を経由して電動装具３０の活性化制御を行い、本処理を終了する。 Next, the feedback control unit 55 determines in step S13 whether or not the ERD detection rate is equal to or higher than a threshold value. When it is determined that the ERD detection rate is equal to or greater than the threshold, the feedback control unit 55 determines whether or not the training set has been executed a predetermined number of times or more in step S14. When it is determined that the training set has been executed a predetermined number of times or more, the feedback control unit 55 determines in step S15 that exercise planning has been sufficiently trained, and somatosensory feedback by the electric brace is effective, and motor control is performed. The activation control of the electric appliance 30 is performed via the unit 58 and the muscle stimulation control unit 59, and this process is terminated.
　具体的には電動装具３０の活性化制御とは、ＥＲＤ信号が検出されたタイミングでモータ３２をオンして指の伸展をさせ、同時に筋刺激電極３３から筋刺激を行うことである。ＥＲＤ信号が検出されない場合には、電動装具３０は駆動しなくてよい。 Specifically, the activation control of the electric appliance 30 is to turn on the motor 32 at the timing when the ERD signal is detected to extend the finger and simultaneously perform muscle stimulation from the muscle stimulation electrode 33. When the ERD signal is not detected, the electric appliance 30 may not be driven.
　他方、フィードバック制御部５５は、ステップＳ１３においてＥＲＤ検出率が閾値未満である旨判定したとき、および、ステップＳ１４において訓練セットが所定回数以上実行されていない旨判定したとき、ステップＳ１６において、運動企図の訓練が十分になされておらず、電動装具３０による体性感覚フィードバックは運動企図の訓練の妨げになる可能性があると判定し、電動装具３０の活性化制御を行わずに、本処理を終了する。 On the other hand, when the feedback control unit 55 determines in step S13 that the ERD detection rate is less than the threshold value and in step S14, it is determined that the training set has not been executed a predetermined number of times or more, in step S16, the exercise attempt is performed. It is determined that there is a possibility that the somatosensory feedback by the electric brace 30 may hinder the exercise training, and this processing is performed without controlling the activation of the electric brace 30. finish.
　リハビリテーションシステム１は、以下の作用および効果を奏する。
　（１）実施形態のリハビリテーションシステム１と図７に示す参考例のリハビリテーションシステムとの違いについて説明する。図７に示す参考例のリハビリテーションシステムは、検出率演算部５３および装具制御部５６を備えていない点において実施形態のリハビリテーションシステム１とは相違している。参考例のリハビリテーションシステムでは、ＥＲＤ検出部５２にてＥＲＤが検出された場合、そのままフィードバック制御部５５から、提示装置２０および電動装具３０に対する制御が自動的に行われている。この場合には、ＥＲＤ信号が誤って判定されやすい訓練初期の段階においても、ＥＲＤ信号が検出されたすべての場合に、電動装具３０による体性感覚フィードバックを含めたすべてのフィードバックが与えられる。このため、運動企図を伴わずにＥＲＤ信号の検出が判定された場合に、運動企図の表出の訓練が混乱させられるおそれがある。 The rehabilitation system 1 has the following operations and effects.
(1) The difference between the rehabilitation system 1 of embodiment and the rehabilitation system of the reference example shown in FIG. 7 is demonstrated. The rehabilitation system of the reference example shown in FIG. 7 is different from the rehabilitation system 1 of the embodiment in that the detection rate calculation unit 53 and the appliance control unit 56 are not provided. In the rehabilitation system of the reference example, when the ERD detection unit 52 detects ERD, the feedback control unit 55 directly controls the presentation device 20 and the electric appliance 30 as they are. In this case, all the feedback including somatosensory feedback by the electric appliance 30 is given in all cases where the ERD signal is detected even in the initial stage of training in which the ERD signal is likely to be erroneously determined. For this reason, when the detection of the ERD signal is determined without accompanying the exercise intention, there is a possibility that the exercise training for expressing the exercise intention may be confused.
　実施形態のリハビリテーションシステム１の制御装置５０は、脳波測定装置１０によって計測された脳波から運動企図に関連したＥＲＤ信号を抽出し、少なくともそのＥＲＤ信号に基づいて運動企図が正しく表出できたと判定したときに電動装具３０の制御を変更するように構成される。 The control device 50 of the rehabilitation system 1 of the embodiment extracts an ERD signal related to the exercise plan from the electroencephalogram measured by the electroencephalogram measurement device 10, and determines that the exercise plan has been correctly expressed based on at least the ERD signal. It is sometimes configured to change the control of the electric appliance 30.
　このため、運動企図の表出の訓練と、運動企図の表出と体性感覚の関係性の学習のそれぞれに集中することができる。このため、特にリハビリテーションの初期において、患者がＥＲＤの表出を適切に行えるように訓練しやすくなり、リハビリテーションの効果を高めることができる。 For this reason, it is possible to concentrate on exercise planning expression training and learning of the relationship between expression planning and somatosensory. For this reason, especially in the early stage of rehabilitation, it becomes easy to train the patient to appropriately express the ERD, and the effect of rehabilitation can be enhanced.
　（２）制御装置５０は、ＥＲＤ検出率が所定の値より低い場合と高い場合とで、患者へのフィードバックを切り替えている。すなわち、制御装置５０は、患者に対しては２段階のフィードバックを与えていると言える。このため、制御装置５０は、訓練初期には提示装置２０のみによるフィードバックを行うが電動装具３０によるフィードバックを行わない第１段階制御を実施し、訓練が進んできた後には、提示装置２０、電動装具３０の両方によるフィードバックを行う第２段階制御を実施する。 (2) The control device 50 switches feedback to the patient depending on whether the ERD detection rate is lower or higher than a predetermined value. That is, it can be said that the control device 50 provides two-stage feedback to the patient. For this reason, the control device 50 performs the first stage control in which the feedback by only the presentation device 20 is performed but the feedback by the electric appliance 30 is not performed in the initial stage of the training. Second stage control is performed in which feedback is provided by both of the appliances 30.
　この２段階の制御は、リハビリテーションの訓練過程に対応した制御であると言える。すなわちリハビリテーション初期には、運動企図の表出が主に訓練対象となり、その後運動企図の表出ができるようになってからは、運動企図と、実際の他動的運動に伴う体性感覚フィードバックとの関連付けが訓練される。リハビリテーションシステム１では、この２段階に適した制御が可能になる。 It can be said that this two-stage control corresponds to the rehabilitation training process. In other words, at the beginning of rehabilitation, the expression of motor intentions is mainly targeted for training, and after that, the expression of motor plans can be expressed. The association is trained. In the rehabilitation system 1, control suitable for these two stages is possible.
　（３）制御装置５０は、ＥＲＤ信号の検出回数を用いたＥＲＤ検出率に基づいて、第１段階制御から第２段階制御に切り替えている。この場合、運動企図を適切に表出できるようになったと推定される患者の訓練段階が自動的に第２段階に移行されるため、リハビリテーションの効果を高めることができる。 (3) The control device 50 switches from the first stage control to the second stage control based on the ERD detection rate using the number of detections of the ERD signal. In this case, the training stage of the patient estimated to be able to appropriately express the exercise plan is automatically shifted to the second stage, so that the rehabilitation effect can be enhanced.
　（４）一般的に訓練初期にはＥＲＤ検出率の精度が低く、安定して運動企図の表出ができるようになるには、一定以上の訓練が必要と考えられる。このため、制御装置５０は、ＥＲＤ検出率が閾値を超えるまで、かつ、訓練の回数が所定の回数に達するまで第１段階制御を実行し、訓練の回数が所定の回数に達し、かつ、運動企図の表出の検出率が閾値を超えたことに基づいて第２段階制御に移行する。このため、患者が運動企図を適切に表出できるようになった旨をより適切に推定できる。 (4) In general, the accuracy of the ERD detection rate is low in the early stages of training, and it is considered that more than a certain amount of training is necessary in order to be able to express exercise plans stably. For this reason, the control device 50 executes the first stage control until the ERD detection rate exceeds the threshold and the number of exercises reaches a predetermined number, the number of exercises reaches the predetermined number, and the exercise The process shifts to the second stage control based on the detection rate of the intentional expression exceeding the threshold. For this reason, it can be estimated more appropriately that the patient can appropriately express the exercise plan.
　（５）制御装置５０は、第２段階制御を実行しているときに、ＥＲＤ検出率が判定値である閾値を下回ったとき、第１段階制御に移行する。このため、第２段階制御に移行した後に、患者が再び運動企図の表出を上手くおこなえなくなったときに再び第１段階制御が実行される。このため、患者の状態に適しないリハビリテーションが行われることが抑制される。 (5) When the second stage control is being performed, the control device 50 shifts to the first stage control when the ERD detection rate falls below a threshold value that is a determination value. For this reason, after shifting to the second stage control, the first stage control is executed again when the patient is unable to successfully express the exercise plan again. For this reason, it is suppressed that the rehabilitation suitable for a patient's condition is performed.
　本発明のリハビリテーションシステム１は、上記実施形態に限定されず、例えば以下のように変形してもよい。技術的に可能な範囲においていくつかの変形例を適宜組み合わせてもよい。 The rehabilitation system 1 of the present invention is not limited to the above embodiment, and may be modified as follows, for example. Several modifications may be combined as appropriate within the technically possible range.
　・ＥＲＤ検出率を、以下の（Ａ）または（Ｂ）のように演算することもできる。
　（Ａ）制御装置５０は、１訓練シーケンスのうちの企図期間においてＥＲＤ信号が検出されたとき、正しいＥＲＤ信号の検出の回数を「１」として、ＥＲＤ検出部５２内部のメモリー（図示せず）に記憶する。そして、制御装置５０は、同一の患者において実行された訓練シーケンス数に対する正しいＥＲＤ信号の検出の回数の総数をＥＲＤ検出率として演算する。 The ERD detection rate can also be calculated as in (A) or (B) below.
(A) When the ERD signal is detected in the planning period of one training sequence, the control device 50 sets the number of times of detection of the correct ERD signal to “1” and stores the memory (not shown) in the ERD detection unit 52. To remember. And the control apparatus 50 calculates the total number of the detection frequency of the correct ERD signal with respect to the number of training sequences performed in the same patient as an ERD detection rate.
　（Ｂ）制御装置５０は、１訓練シーケンスのうちの安静期間においてＥＲＤ信号が検出されなかったとき、および、１訓練シーケンスのうちの企図期間においてＥＲＤ信号が検出されたとき、それぞれ正しいＥＲＤ信号の検出の回数を「１」として、ＥＲＤ検出部５２内部のメモリー（図示せず）に記憶する。そして、制御装置５０は、同一の患者において実行された訓練シーケンス数の２倍に対する正しいＥＲＤ信号の検出の回数の総数をＥＲＤ検出率として演算する。 (B) When the ERD signal is not detected in the rest period of one training sequence and when the ERD signal is detected in the planning period of one training sequence, the control device 50 determines the correct ERD signal. The number of detections is set to “1” and stored in a memory (not shown) inside the ERD detection unit 52. And the control apparatus 50 calculates the total number of the detection frequency of the correct ERD signal with respect to twice the number of training sequences performed in the same patient as an ERD detection rate.
　・正しいＥＲＤ検出の回数の総数が所定の値を超えたとき、第１訓練制御から第２訓練制御に移行させることもできる。
　・制御装置５０は、図８に示すようにＥＲＤ検出率を画像表示部２２により表示させることもできる。この場合、患者が自身のＥＲＤ検出率を把握できるため、リハビリテーションの効果の向上を見込むことができる。また、スピーカー２１により訓練セットごとにＥＲＤ検出率を報知させることもできる。 When the total number of correct ERD detections exceeds a predetermined value, the first training control can be shifted to the second training control.
-The control apparatus 50 can also display an ERD detection rate by the image display part 22, as shown in FIG. In this case, since the patient can grasp his / her ERD detection rate, the improvement of the rehabilitation effect can be expected. In addition, the ERD detection rate can be notified for each training set by the speaker 21.
　・移行制御のステップＳ１３において用いられる閾値を、第１段階制御を実行しているときと第２段階制御を実行しているときとで異なる値に設定することもできる。例えば、ステップＳ１３において、制御装置５０は、第１段階制御を実行しているとき、ＥＲＤ検出率が閾値未満のとき、ステップＳ１６に進み、第２段階制御を実行しているとき、閾値よりも大きい判定値を下回ったとき、ステップＳ１６に進むようにする。 The threshold value used in step S13 of the transition control can be set to a different value when the first stage control is being executed and when the second stage control is being executed. For example, in step S13, when executing the first stage control, the control device 50 proceeds to step S16 when the ERD detection rate is less than the threshold value, and when executing the second stage control, the control apparatus 50 exceeds the threshold value. When the value falls below the large determination value, the process proceeds to step S16.
　・移行制御において、第１段階制御から第２段階制御に移行した後は、第１段階制御に移行しないようにすることもできる。
　・制御装置５０は、第１段階制御から第２段階制御に移行するとき、第１段階制御から第２段階制御に移行する旨を提示装置２０により提示することもできる。この場合、患者は、次の訓練のセットから電動装具３０が駆動することを認識できる。 In the transition control, after shifting from the first stage control to the second stage control, it is possible not to shift to the first stage control.
When the control device 50 shifts from the first step control to the second step control, the presentation device 20 can also indicate that the control device 50 shifts from the first step control to the second step control. In this case, the patient can recognize that the electric brace 30 is driven from the next training set.
　・第１段階制御において、電動装具３０を駆動するようにすることもできる。この場合、電動装具３０の駆動量、すなわち、体肢を動作させる量を第２段階制御における駆動量よりも小さくすることにより、第２段階制御を実行するときよりも運動企図の表出に重点をおいた訓練を行わせることができる。また、第１段階において、筋刺激電極３３による筋刺激およびモータ３２による他動運動の一方のみを実行させ、第２段階において、筋刺激電極３３による筋刺激およびモータ３２による他動運動の両方を実行させることもできる。 In the first stage control, the electric appliance 30 can be driven. In this case, the driving amount of the electric brace 30, that is, the amount by which the limb is moved is made smaller than the driving amount in the second step control, thereby emphasizing the expression of the exercise plan rather than executing the second step control. Can be trained. In the first stage, only one of the muscle stimulation by the muscle stimulation electrode 33 and the passive movement by the motor 32 is executed. In the second stage, both the muscle stimulation by the muscle stimulation electrode 33 and the passive movement by the motor 32 are performed. It can also be executed.
　なお、第１段階制御と第２段階制御とを操作部４０により強制的に変更させる構成を追加することもできる。
　・電動装具３０からモータ３２および筋刺激電極３３の一方を省略することもできる。 Note that a configuration in which the first stage control and the second stage control are forcibly changed by the operation unit 40 may be added.
One of the motor 32 and the muscle stimulation electrode 33 can be omitted from the electric appliance 30.
　・電動装具３０は患者の下肢に装着する形状にすることもできる。
　・脳波受信部５１、ＥＲＤ検出部５２、検出率演算部５３、訓練タイミング制御部５４、フィードバック制御部５５、装具制御部５６、提示制御部５７、モータ制御部５８、および、筋刺激制御部５９は、ハードウェアであってもよく、ＣＰＵがＲＯＭに記憶された制御プログラムを実行することによってソフトウェア的に実現されてもよい。 -The electric appliance 30 can also be made into the shape with which a patient's leg is mounted | worn.
EEG reception unit 51, ERD detection unit 52, detection rate calculation unit 53, training timing control unit 54, feedback control unit 55, orthosis control unit 56, presentation control unit 57, motor control unit 58, and muscle stimulation control unit 59 May be hardware, and may be realized in software by the CPU executing a control program stored in the ROM.
　・脳波受信部５１、ＥＲＤ検出部５２、検出率演算部５３、訓練タイミング制御部５４、フィードバック制御部５５、装具制御部５６、提示制御部５７、モータ制御部５８、および、筋刺激制御部５９は、制御装置５０であり得る一つのプロセッサによって実現されてもよく、制御装置５０に含まれる複数のプロセッサによって実現されてもよい。 EEG reception unit 51, ERD detection unit 52, detection rate calculation unit 53, training timing control unit 54, feedback control unit 55, orthosis control unit 56, presentation control unit 57, motor control unit 58, and muscle stimulation control unit 59 May be realized by one processor which may be the control device 50, or may be realized by a plurality of processors included in the control device 50.
　本発明は、例示したものに限定されるものではない。例えば、例示した特徴が本発明にとって必須であると解釈されるべきでなく、本発明の主題は、開示した特定の実施形態の全ての特徴より少ない特徴に存在することがある。 The present invention is not limited to the illustrated example. For example, the illustrated features should not be construed as essential to the invention, and the subject matter of the invention may reside in fewer features than all the features of the specific embodiments disclosed.
　１…リハビリテーションシステム、１０…脳波測定装置、２０…提示装置、３０…電動装具、４０…操作部、５０…制御装置。 DESCRIPTION OF SYMBOLS 1 ... Rehabilitation system, 10 ... Electroencephalogram measuring apparatus, 20 ... Presentation apparatus, 30 ... Electric appliance, 40 ... Operation part, 50 ... Control apparatus.

Claims (11)

  1. 　脳波測定装置と、
    　患者に対してフィードバック情報を含む情報を提示するように構成される情報提示装置と、
    　患者に装着されて、電気的刺激および力学的刺激の少なくとも一方を患者に与えるように構成される電動装具と、
    　前記脳波測定装置によって計測された脳波から運動企図に関連した信号を抽出し、少なくともその信号に基づいて運動企図が正しく表出できたと判定したときに前記電動装具の制御を変更するように構成される制御装置と
    を備えるリハビリテーションシステム。     An electroencephalograph,
    An information presentation device configured to present information including feedback information to a patient;
    An electric brace mounted on the patient and configured to provide the patient with at least one of electrical and mechanical stimulation;
    A signal related to an exercise plan is extracted from an electroencephalogram measured by the electroencephalogram measurement apparatus, and the control of the electric appliance is changed when it is determined that the exercise plan has been correctly expressed based on at least the signal. Rehabilitation system comprising a control device.
  2. 　前記制御装置は、
    　前記運動企図が正しく表出されたときに前記運動企図が正しく表出されたことを前記情報提示装置により患者に提示し、かつ、前記電動装具を駆動させない第１段階制御と、
    　前記運動企図が正しく表出されたときに前記電動装具を駆動させる第２段階制御と、を実行するように構成される請求項１に記載のリハビリテーションシステム。     The controller is
    A first stage control that presents to the patient by the information presentation device that the exercise intention has been correctly expressed when the exercise intention is correctly expressed, and does not drive the electric appliance;
    The rehabilitation system according to claim 1, wherein the rehabilitation system is configured to execute a second stage control that drives the electric appliance when the exercise attempt is correctly expressed.
  3. 　前記制御装置は、前記運動企図が正しく表出された回数に基づいて、前記第１段階制御から前記第２段階制御に切り替えるように構成される請求項２に記載のリハビリテーションシステム。 The rehabilitation system according to claim 2, wherein the control device is configured to switch from the first-stage control to the second-stage control based on the number of times that the exercise plan is correctly expressed.
  4. 　前記制御装置は、訓練の回数に対する前記運動企図が正しく表出された回数である前記運動企図の検出率が閾値を超えるまで前記第１段階制御を実行し、前記運動企図の検出率が前記閾値を超えたことに基づいて、前記第２段階制御に移行するように構成される請求項３に記載のリハビリテーションシステム。 The control device performs the first stage control until a detection rate of the exercise intention, which is the number of times the exercise intention is correctly expressed with respect to the number of exercises, exceeds a threshold, and the detection rate of the exercise intention is the threshold The rehabilitation system according to claim 3, wherein the rehabilitation system is configured to shift to the second-stage control based on exceeding.
  5. 　前記制御装置は、
    　前記運動企図の検出率が前記閾値を超えるまで、かつ、前記訓練の回数が所定の回数に達するまで前記第１段階制御を実行し、
    　前記訓練の回数が所定の回数に達し、かつ、前記運動企図の検出率が前記閾値を超えたことに基づいて前記第２段階制御に移行するように構成される請求項４に記載のリハビリテーションシステム。     The controller is
    The first stage control is executed until the detection rate of the exercise intention exceeds the threshold value and the number of exercises reaches a predetermined number.
    5. The rehabilitation system according to claim 4, wherein the rehabilitation system is configured to shift to the second stage control based on the number of times of training reaching a predetermined number of times and a detection rate of the exercise intention exceeding the threshold. .
  6. 　前記制御装置は、前記第２段階制御を実行しているときに、前記運動企図の検出率が判定値を下回ったとき、前記第１段階制御に移行するように構成される請求項４または５に記載のリハビリテーションシステム。 The said control apparatus is comprised so that it may transfer to the said 1st step control, when the detection rate of the said motion intention falls below a judgment value, when performing the said 2nd step control. The rehabilitation system described in 1.
  7. 　前記制御装置は、前記運動企図の検出率を前記情報提示装置により患者に提示させるように構成される請求項４～６のいずれか一項に記載のリハビリテーションシステム。 The rehabilitation system according to any one of claims 4 to 6, wherein the control device is configured to cause the information presentation device to present a detection rate of the exercise plan to the patient.
  8. 　前記制御装置は、前記運動企図の検出率に基づいてリハビリテーションのスケジュールを決定するように構成される請求項４～７のいずれか一項に記載のリハビリテーションシステム。 The rehabilitation system according to any one of claims 4 to 7, wherein the control device is configured to determine a rehabilitation schedule based on a detection rate of the exercise plan.
  9. 　前記制御装置は、前記第１段階制御から前記第２段階制御に移行するとき、前記第１段階制御から前記第２段階制御に移行する旨を前記情報提示装置により患者に提示するように構成される請求項２～８のいずれか一項に記載のリハビリテーションシステム。 When the control device shifts from the first step control to the second step control, the control device is configured to present to the patient by the information presentation device that the first step control shifts to the second step control. The rehabilitation system according to any one of claims 2 to 8.
  10. 　前記電動装具によって生成される前記電気的刺激および前記力学的刺激の少なくとも一方は、体性感覚フィードバックであり、
    　前記情報提示装置によって提示される前記フィードバック情報は、非体性感覚フィードバックであり、
    　前記制御装置は、
    　患者に所定のリハビリテーション運動の想起を要求する運動想起リクエストを、前記情報提示装置から視覚的及び／または音響的に出力し、
    　前記運動想起リクエストの出力前の脳波と、前記運動想起リクエストの出力後の脳波とに少なくとも基づいて、前記リハビリテーション運動の想起に対する前記患者の訓練の程度を判定し、
    　その判定結果に応じて、
    　　前記情報提示装置による前記非体性感覚フィードバックの単独実行、及び
    　　前記電動装具による前記体性感覚フィードバックと前記情報提示装置による前記非体性感覚フィードバックとの同時実行と
    を少なくとも含む複数のフィードバックモードのうちの一つを選択的に実行するように構成される、請求項１～９のいずれか一項に記載のリハビリテーションシステム。     At least one of the electrical stimulus and the mechanical stimulus generated by the electric brace is somatosensory feedback;
    The feedback information presented by the information presentation device is non-somatosensory feedback;
    The controller is
    A motion recall request for requesting a patient to recall a predetermined rehabilitation motion is output visually and / or acoustically from the information presentation device;
    Determining the degree of training of the patient with respect to the rehabilitation exercise recall based at least on the brain wave before the output of the motor recall request and the brain wave after the output of the motor recall request;
    Depending on the judgment result,
    A plurality of feedback modes including at least the non-somatic sensory feedback by the information presentation device and the simultaneous execution of the somatic sensory feedback by the electric appliance and the non-somatic sensory feedback by the information presentation device; The rehabilitation system according to any one of claims 1 to 9, wherein the rehabilitation system is configured to selectively perform one of them.
  11. 　前記脳波測定装置が脳波を計測し、
    　前記脳波から抽出される、運動企図に関連した信号に少なくとも基づいて、前記運動企図が正しく表出できたと判定したときに、前記制御装置が前記電動装具の制御を変更すること、
    を備える請求項１～１０のいずれか一項に記載のリハビリテーションシステムの制御方法。     The electroencephalogram measuring apparatus measures an electroencephalogram,
    The control device changes the control of the electric appliance when it is determined that the exercise intention has been correctly expressed based on at least a signal related to the exercise intention extracted from the electroencephalogram;
    The method for controlling a rehabilitation system according to any one of claims 1 to 10, further comprising:
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