阅读说明：本技术 运动功能恢复训练装置 (Exercise function recovery training device ) 是由 金谷洋希 河野贵之 筒井崇 池田由有子 潮田贵之 于 2019-05-24 设计创作，主要内容包括：运动功能恢复训练装置。训练对象者能够流畅地实施主动运动。运动功能恢复训练装置(1)进行用于使作为训练对象的前臂部(17)的运动功能恢复的训练,具有：固定部件(15),其被支承为可旋转并且对前臂部(17)进行固定；电机(10),其使固定部件(15)在正转方向和反转方向上旋转；编码器(11),其对电机(10)的旋转位置进行检测；以及控制器(12),其根据编码器(11)的检测结果,对电机(10)进行控制,控制器(12)具有主动运动控制部(26),该主动运动控制部(26)在训练对象者自主进行使固定部件(15)旋转的主动运动时,对电机(10)进行控制,使得只在预先设定的旋转方向上进行旋转。(An exercise function recovery training device. The training subject can smoothly perform the active exercise. A motion function recovery training device (1) performs training for recovering a motion function of a forearm (17) to be trained, and comprises: a fixing member (15) that is rotatably supported and fixes the front arm section (17); a motor (10) that rotates the fixing member (15) in the forward direction and the reverse direction; an encoder (11) that detects the rotational position of the motor (10); and a controller (12) that controls the motor (10) on the basis of the detection result of the encoder (11), wherein the controller (12) has an active motion control unit (26), and the active motion control unit (26) controls the motor (10) so as to rotate only in a preset rotation direction when the training subject person autonomously performs active motion for rotating the fixing member (15).)

1. A motor function recovery training device for performing training for recovering a motor function of a part of a human body to be trained, the motor function recovery training device comprising:

a fixing member that is supported to be rotatable and fixes the human body part;

a motor that rotates the fixing member in a forward rotation direction and a reverse rotation direction;

a rotational position sensor that detects a rotational position of the motor; and

a controller for controlling the motor based on a detection result of the rotational position sensor,

the controller includes a 1 st control unit that controls the motor such that the fixing member rotates only in a preset rotation direction when the training subject performs an active motion that autonomously rotates the fixing member.

2. The motor function restoration training device according to claim 1,

the controller has:

a rotational speed calculation unit that calculates a rotational speed of the motor based on a detection result of the rotational position sensor;

a 1 st filter processing calculation unit that removes a high-frequency component higher than a predetermined frequency from the rotational speed; and

a speed command calculation unit that calculates a speed command from the rotational speed from which the high-frequency component is removed,

when the active movement is performed, the 1 st control unit controls the motor according to the speed command.

3. The motor function restoration training device according to claim 2,

the controller includes a speed command limiting unit that sets the speed command input to the 1 st control unit to 0 when the speed command calculated by the speed command calculating unit is in a direction opposite to the direction of the active movement.

4. The motor function restoration training device according to claim 2 or 3,

the controller has:

a torque calculation unit that calculates a torque from the rotation speed; and

a 2 nd filter processing calculation unit for removing a high frequency component higher than a predetermined frequency from the torque,

the speed command calculation unit calculates the speed command based on the rotation speed from which the high-frequency component is removed and the torque from which the high-frequency component is removed.

5. The motor function restoration training device according to claim 1,

the exercise function recovery training device further comprises a stimulus applying device for applying a predetermined stimulus to a part related to the part of the human body to be trained,

the controller has:

a 2 nd control unit that controls the rotation speed of the motor so that the motor is driven at a predetermined set speed when the motor performs a passive motion for rotating the fixed member;

a control switching unit that switches from control by the 2 nd control unit to control by the 1 st control unit, based on the rotational position detected by the rotational position sensor; and

and a stimulus application processing unit that controls the stimulus application device to apply a stimulus that induces a human body reaction in the human body part when switching from the control by the 2 nd control unit to the control by the 1 st control unit.

6. The motor function restoration training device according to claim 1,

the fixing member is configured such that a surface pressure of a portion in contact with a distal end side of the human body part is higher than a surface pressure of a portion in contact with a proximal end side of the human body part.

7. The motor function restoration training device according to claim 1,

the controller includes a vibration application processing unit that controls the motor so that the fixed member vibrates at a predetermined frequency before the training.

8. The motor function restoration training device according to claim 1,

the exercise function recovery training device further includes a display unit that displays information related to the training,

the controller has:

a 2 nd control unit that controls the rotation speed of the motor so that the motor is driven at a predetermined set speed when the motor performs a passive motion for rotating the fixed member;

a control switching unit that switches from control by the 2 nd control unit to control by the 1 st control unit, based on the rotational position detected by the rotational position sensor;

a human body reaction amount calculation unit that calculates a human body reaction amount by which the fixing member rotates due to the human body reaction of the human body part during a period from a time point when the control by the 2 nd control unit is switched to the control by the 1 st control unit to a time point when a predetermined time elapses, based on a detection result of the rotational position sensor; and

a 1 st display control unit that causes the display unit to display the human body reaction amount.

9. The motor function restoration training device according to claim 1,

the exercise function recovery training device further includes a display unit that displays information related to the training,

the controller has:

a movable region measuring unit for measuring a movable region of the human body part by rotating the fixed member by the motor;

an active motion amount calculation unit that calculates an active motion amount by which the training target person autonomously rotates the fixing member, based on a detection result of the rotational position sensor, under control by the 1 st control unit;

a completion rate calculation unit that calculates an active completion rate that is a ratio of the amount of active motion to the movable region; and

and a 2 nd display control unit that causes the display unit to display the active completion rate.

Technical Field

The disclosed embodiments relate to exercise function recovery training devices.

Background

Patent document 1 describes a motor function recovery training device that uses the forearm as a training target. The exercise function recovery training device performs passive rotational motion at a 1 st angular velocity, then performs passive rotational motion at a 2 nd angular velocity higher than the 1 st angular velocity, and thereafter performs active rotational motion according to the will of the patient. After the rotation at the 1 st angular velocity, by the rapid rotation at the 2 nd angular velocity, the tension of the muscle for functional recovery is increased, thereby exciting the stretching reflex. In addition, in the active rotation, a small resistance is applied by the servo motor in order to continue the stimulation of the muscle and maintain the muscle tension.

Patent document 1: japanese laid-open patent publication No. 2015-245

The exercise function recovery training device of the prior art described above has the following problems: the torque generated by the patient during the active rotational motion is detected, and a speed command is generated by a servo motor based on the detected torque. In this case, when the patient's force shakes, the speed generated by the servo motor also shakes, and therefore, there is a possibility that a smooth motion cannot be achieved, and the patient cannot smoothly perform the active rotational motion.

Disclosure of Invention

The present invention has been made in view of the above problems, and an object thereof is to provide a motor function recovery training device that allows a person to be trained to smoothly perform an active movement.

In order to solve the above problem, according to an aspect of the present invention, there is provided a motor function recovery training device for performing training for recovering a motor function of a part of a human body to be trained, the motor function recovery training device including: a fixing member that is supported to be rotatable and fixes the human body part; a motor that rotates the fixing member in a forward rotation direction and a reverse rotation direction; a rotational position sensor that detects a rotational position of the motor; and a controller that controls the motor based on a detection result of the rotational position sensor, wherein the controller includes a 1 st control unit that controls the motor such that the fixing member rotates only in a preset rotation direction when a person to be trained performs an active motion that autonomously rotates the fixing member.

According to the present invention, the patient can smoothly perform active exercise.

Drawings

Fig. 1 is an explanatory diagram illustrating an example of the overall configuration of the exercise function recovery training device according to the present embodiment.

Fig. 2 is an explanatory diagram showing an example of the structure of the rotating unit.

Fig. 3 is an explanatory diagram conceptually showing an example of the cross-sectional structure of the fixing member.

Fig. 4 is an explanatory diagram conceptually showing another example of the sectional structure of the fixing member.

Fig. 5 is an explanatory diagram conceptually showing still another example of the sectional structure of the fixing member.

Fig. 6 is an explanatory diagram showing an example of the functional configuration of the controller.

Fig. 7 is an explanatory diagram showing an example of a change in the rotation speed of the motor when the training type is "internal rotation" or "external rotation".

Fig. 8 is an explanatory diagram showing an example of a change in the rotation speed of the motor when the training type is "inside rotation and outside rotation".

Fig. 9 is an explanatory diagram illustrating an example of the display of the touch panel in the case where the training type is "internal rotation".

Fig. 10 is an explanatory diagram showing an example of display of the touch panel in the case where the training type is "outward rotation".

Fig. 11 is a flowchart showing an example of processing steps executed by the CPU of the controller.

Fig. 12 is a flowchart showing an example of the processing procedure of the passive motion processing.

Fig. 13 is a flowchart showing an example of the processing procedure of the active motion processing.

Fig. 14 is an explanatory diagram showing an example of the configuration of the turning section in a modification for training by performing a bending motion and an extending motion of the finger.

Fig. 15 is an explanatory diagram showing an example of the hardware configuration of the controller.

Description of the reference symbols

1: a motor function recovery training device; 9: a touch panel (display unit); 10: a motor; 11: an encoder (rotary position sensor); 12: a controller; 15: a fixing member; 17: a forearm portion (a human body part as a training target); 25: a 2 nd passive motion control unit (2 nd control unit); 26: an active motion control unit (1 st control unit); 27: a control switching unit; 28: a rotational speed calculation unit; 29: a 1 st filter processing operation unit; 30: a torque calculation unit; 31: a 2 nd filter processing operation unit; 32: a speed command calculation unit; 33: a speed command limiting unit; 34: a stimulation application processing unit; 35: a vibration application processing unit; 36: a human body reaction amount calculation unit; 37: 1 st display control part; 38: a movable region measuring unit; 39: an active exercise amount calculation unit; 40: a completion rate calculation unit; 41: a 2 nd display control unit; 42: a stimulus applying device; 61: a fixing member; 62: index finger (human body part as a training target); tfb: torque; vfb: a rotational speed; vref: a speed command; v2: the 2 nd set speed (set speed).

Detailed Description

Hereinafter, one embodiment will be described with reference to the drawings.

< 1. Structure of exercise function recovery training device >

First, an example of the configuration of the exercise function recovery training device according to the present embodiment will be described with reference to fig. 1 to 5. Fig. 1 is an explanatory diagram illustrating an example of the overall configuration of the exercise function recovery training device according to the present embodiment. Fig. 2 is an explanatory diagram showing an example of the structure of the rotating unit. Fig. 3 to 5 are explanatory views conceptually showing a cross-sectional structure example of the fixing member. In addition, hereinafter, for convenience of explanation of the configuration of the exercise function recovery training device, the directions of up, down, left, right, front, and rear shown in fig. 1 are sometimes used as appropriate, but the directions are not limited to the positional relationship of the respective configurations of the exercise function recovery training device. In the present embodiment, the front-rear direction is a rotation axis center direction of a turning portion described later, the up-down direction is a vertical direction, and the left-right direction is a direction perpendicular to both the front-rear direction and the up-down direction.

The exercise function recovery training device 1 is a device that performs training (rehabilitation training) for recovering an exercise function of a part of a human body that is a training target. Examples of the training target include patients having cerebrovascular diseases such as stroke or motor dysfunction due to orthopedic diseases. In the present embodiment, a case where the human body part to be trained is the forearm is described, but a human body part other than the forearm may be a training target.

As shown in fig. 1, the exercise function recovery training device 1 includes an elevating platform 2, a device body 3, and a rotating unit 4.

The elevating platform 2 includes a table 5 on which the apparatus main body 3 is placed, a column 6 which is vertically extendable and retractable by an unillustrated extending and retracting mechanism, and a plurality of (5 in this example) leg portions 7a to 7e provided at a lower portion of the column. From the center position where the legs 7a to 7e are connected, the leg 7a extends leftward, the leg 7b extends forward, the leg 7c extends rightward, the leg 7d extends rightward, and the leg 7e extends leftward and rearward. By setting the number of the legs 7a to 7e to 5, stability is improved as compared with a case where the number of the legs is 4 (cross shape with 90 ° interval), for example. Further, by setting the interval between the legs 7a and 7b to 90 °, a space is secured on the front left side where a training subject person who is to train the forearm of the right arm approaches, and therefore, interference between the leg and a chair, a wheelchair, a foot, or the like of the training subject person can be suppressed. Similarly, by setting the interval between the legs 7b and 7c to 90 °, a space is secured on the front right side where a training subject person who is to train the forearm of the left arm approaches, and therefore, interference between the leg and the chair, wheelchair, foot, or the like of the training subject person can be suppressed. Casters 8 are provided at the lower portions of the legs 7a to 7 b.

A touch panel 9 (an example of a display unit) for performing display and various operations related to training is provided on the front surface of the apparatus main body 3. Further, a motor 10 (see fig. 6 described later) that rotates the rotating portion 4 in the normal rotation direction and the reverse rotation direction, an encoder 11 (an example of a rotational position sensor, see fig. 6 described later) that detects a rotational position of the motor 10, a controller 12 (see fig. 6 described later) that controls the motor 10 based on a detection result of the encoder 11, and the like are provided inside the apparatus main body 3. The motor 10 is a servo motor in which at least one of position, speed, and torque is controlled based on the detection result of the encoder 11. The controller 12 is configured as a computer having a CPU, a memory, and the like (see fig. 15 described later). In addition, for example, a rotational position sensor other than an encoder such as a resolver or a potentiometer may be used. Further, a torque sensor for detecting the torque of the motor 10 may be provided.

The turning section 4 is provided rotatably at the front side of the apparatus main body 3, protrudes forward from the apparatus main body 3, and supports a forearm section 17 (an example of a human body part to be trained) of a person to be trained. The rotating unit 4 includes a disk member 13, a support rod 14, a fixing member 15, and a handle 16. The disk member 13 is provided on the front surface of the apparatus body 3 and is rotated around the rotation axis AX by the motor 10. The support rod 14 is located at a position offset downward by a predetermined distance from the rotation axis AX, and is provided to protrude forward from the disk member 13 substantially in parallel with the rotation axis AX. The fixing member 15 is provided near the distal end portion of the support rod 14, and detachably fixes the wrist portion 18 of the training subject person. The fixed member 15 rotates around the rotation axis AX by the rotation of the rotating portion 4. The grip 16 is provided to protrude upward from the support rod 14 and is gripped by the training subject. Further, the handle 16 may be detachable from the support rod 14, and the handle position may be changed by rotating the handle position by 180 degrees while being eccentric, for example. Further, a slide mechanism that allows the handle 16 to slide with respect to the support rod 14 may be provided.

The turning unit 4 turns clockwise and counterclockwise with the position of the handle 16 directed vertically upward as a reference angle (0 °). For example, as shown in fig. 2, when training the forearm 17 of the right arm of the training subject, the rotation unit 4 rotates clockwise to cause the forearm 17 to perform outward rotational movement, and the rotation unit 4 rotates counterclockwise to cause the forearm 17 to perform inward rotational movement. Although not shown, in the case of training the forearm of the left arm, on the contrary, the rotation of the rotating unit 4 in the clockwise direction causes the forearm 17 to rotate in the inward direction, and the rotation of the rotating unit 4 in the counterclockwise direction causes the forearm 17 to rotate in the outward direction.

As shown in fig. 2, the fixing member 15 includes: a base portion 19 on which a wrist portion 18 of the forearm portion 17 is placed; a pair of opening/closing units 20 that can open and close to fix or release the wrist part 18; a pair of buffer parts 21 provided inside the pair of opening/closing parts 20, respectively; and a coupling portion 22 that releasably couples upper ends of the pair of opening/closing portions 20.

The cushion portion 21 is made of a soft material such as urethane, for example, and is pressed in contact with the wrist portion 18. The base portion 19 may be made of the same soft material as the cushioning portion 21. The coupling portion 22 is formed of, for example, a surface fastener or the like, and can adjust the gap between the upper ends of the pair of opening/closing portions 20 to a desired size and couple them. Thus, the fixing member 15 can be fixed regardless of the thickness of the wrist portion 18 of the training subject person.

The surface pressure of the portion of the fixing member 15 that contacts the distal end side (hand side) of the wrist portion 18 is configured to be greater than the surface pressure of the portion that contacts the proximal end side (elbow side) of the wrist portion 18. The means for adjusting the surface pressure is not particularly limited, and for example, as shown in fig. 3, the hardness of the hand-side cushion portion 21a may be harder than the elbow-side cushion portion 21 b. In the present example, the cushioning portion is configured to have 2 kinds of hardness, but may be configured to have 3 or more kinds of hardness, or may be configured to change the hardness not stepwise but continuously.

For example, as shown in fig. 4, the thickness of the cushioning portion 21 may be gradually reduced from the hand side toward the elbow side. In the present example, the thickness of the cushioning portion is continuously changed, but a plurality of types of cushioning materials having different thicknesses may be used, and the thickness may be gradually reduced from the hand side to the elbow side.

For example, as shown in fig. 5, the following configuration is also possible: the hand-side cushion portion 21c has a plurality of protrusions 23 on the inner periphery, and the elbow-side cushion portion 21d has no protrusions. The protrusion 23 is made of, for example, the same soft material as the cushion, and the surface pressure against the wrist portion 18 can be increased by the protrusion 23. In this example, the cushion portion is configured to have two types of cushion portions including the protrusion portion 23 and a cushion portion without the protrusion portion 23, but the cushion portion may be configured to have 3 or more types depending on the number, size, shape, and the like of the protrusion portions. The number of the protrusions may be continuously changed, not in stages, such as gradually decreasing from the hand side to the elbow side.

< 2. functional Structure of controller >

Next, an example of the functional configuration of the controller 12 will be described with reference to fig. 6 to 9. Fig. 6 is an explanatory diagram showing an example of the functional configuration of the controller 12, fig. 7 and 8 are explanatory diagrams showing an example of a change in the rotation speed of the motor 10, and fig. 8 is an explanatory diagram showing an example of display on the touch panel 9.

As shown in fig. 6, the controller 12 includes a 1 st passive exercise control unit 24, a 2 nd passive exercise control unit 25, an active exercise control unit 26, a control switching unit 27, a training type setting unit 57, a rotational speed calculation unit 28, a 1 st filter processing calculation unit 29, a torque calculation unit 30, a 2 nd filter processing calculation unit 31, a speed command calculation unit 32, a speed command limitation unit 33, a stimulus application processing unit 34, a vibration application processing unit 35, a human body reaction amount calculation unit 36, a 1 st display control unit 37, a movable region measurement unit 38, an active exercise amount calculation unit 39, a completion rate calculation unit 40, and a 2 nd display control unit 41.

In the case of the passive exercise, the 1 st passive exercise control unit 24 controls the rotation speed of the motor 10 so that the motor 10 is driven at a predetermined 1 st set speed V1. The "passive movement" is an outward rotation or inward rotation of the forearm 17 of the training subject by an external force by rotating the rotating unit 4 by the motor 10. The control of the 1 st passive motion control unit 24 may be speed control based on a speed command, or may be position control in which the position command is sequentially changed so that the speed becomes the 1 st set speed V1.

In the case of performing the passive exercise, the 2 nd passive exercise control unit 25 (an example of the 2 nd control unit) controls the rotation speed of the motor 10 so that the motor 10 is driven at a predetermined 2 nd set speed V2 (an example of the set speed). As shown in fig. 7, the 2 nd set speed V2 is set to be higher than the 1 st set speed V1 in order to excite the human body reaction (e.g., stretch reflex, muscle elasticity, etc.) of the forearm section 17. The control of the 2 nd passive motion control unit 25 may be speed control based on a speed command, or may be position control in which the speed is set to the 2 nd set speed V2 by sequentially changing the position command.

When the active motion is performed, the active motion control unit 26 (an example of the 1 st control unit) controls the motor 10 so that the motor 10 rotates only in a predetermined rotational direction. The "active movement" is an autonomous outward or inward rotation of the person to be trained to rotate the rotating portion 4. The control of the active motion control unit 26 is speed control based on a speed command Vref to be described later.

The training type setting unit 57 sets the training type to any one of the following types based on the selection input of the training type in the touch panel 9: the "internal rotation" of the internal rotation movement is trained in the active movement, the "external rotation" of the external rotation movement is trained in the active movement, and the "internal rotation and the external rotation" of both the internal rotation movement and the external rotation movement are trained in the active movement.

The control switching unit 27 changes the control switching method according to the training type set by the training type setting unit 57. For example, when the training type is set to "internal rotation" or "external rotation", the control switching unit 27 switches the control by the 1 st passive motion control unit 24, the control by the 2 nd passive motion control unit 25, and the control by the active motion control unit 26 based on the rotational position detected by the encoder 11. As shown in fig. 7, the control switching unit 27 first executes the control of the 1 st passive motion control unit 24, and switches the control of the 1 st passive motion control unit 24 to the control of the 2 nd passive motion control unit 25 when the detected position reaches the 1 st rotational position P1. When the detected position reaches the 2 nd rotation position P2, the control of the 2 nd passive motion control unit 25 is switched to the control of the active motion control unit 26. When the detected position reaches the 3 rd rotation position P3, the control of the active motion control unit 26 is switched again to the control of the 1 st passive motion control unit 24. The cycle of the prescribed number of times is repeated with a combination of the passive motion and the active motion based on the execution of the above 3 kinds of control as 1 cycle.

On the other hand, when the training type is set to "internal rotation and external rotation", the control switching unit 27 switches the control by the 2 nd passive motion control unit 25 and the control by the active motion control unit 26 based on the rotational position detected by the encoder 11. As shown in fig. 8, the control switching unit 27 first executes the control by the 2 nd passive motion control unit 25 in either the outward rotation motion or the inward rotation motion, and switches the control by the 2 nd passive motion control unit 25 to the control by the active motion control unit 26 when the detected position reaches the 4 th rotation position P4. When the detected position reaches the 5 th rotation position P5, the control by the active motion control unit 26 is switched to the control by the 2 nd passive motion control unit 25, and the control by the 2 nd passive motion control unit 25 is executed in the other of the outward rotation motion and the inward rotation motion. When the detected position reaches the 6 th rotation position P6, the control by the 2 nd passive motion control unit 25 is switched to the control by the active motion control unit 26. When the detected position reaches the 7 th rotation position P7, the control by the active motion control unit 26 is switched to the control by the 2 nd passive motion control unit 25 again. The combination of the passive motion and the active motion based on the 2 kinds of control performed for the above-described out-of-rotation motion and in-rotation motion is regarded as 1 cycle, and the cycle is repeated a predetermined number of times.

The rotation speed calculation unit 28 calculates the rotation speed of the motor 10 based on the detection result of the encoder 11. For example, the rotational speed calculation unit 28 calculates the rotational speed by performing a first order differentiation on the position time detected by the encoder 11, or performing a process such as a predetermined time count on a detection signal (for example, an incremental signal). This rotation speed corresponds to the rotation speed when the training subject autonomously performs the external rotation or internal rotation of the forearm 17.

The 1 st filtering processing arithmetic unit 29 is an arithmetic unit that functions as a low-pass filter, for example, and removes a high-frequency component higher than a predetermined frequency from the signal of the rotational speed calculated by the rotational speed calculation unit 28. Thus, even when a shake occurs in the rotation speed based on the autonomous movement of the training target person, the vibration component caused by the shake can be removed.

The torque calculation unit 30 calculates a torque from the rotation speed calculated by the rotation speed calculation unit 28. This torque corresponds to a force when the training subject autonomously performs the outward rotation or inward rotation of the forearm 17. In addition to calculating the torque from the rotational speed, for example, in the case where a torque sensor is provided, the torque may be calculated from the detection result.

The 2 nd filter processing operation unit 31 is an operation unit that functions as a low-pass filter, for example, and removes a high-frequency component higher than a predetermined frequency from the torque signal calculated by the torque calculation unit 30. Thus, even when a shake occurs due to the force of the autonomous movement of the training target person, the vibration component caused by the shake can be removed.

The speed command calculation unit 32 calculates the speed command Vref based on the rotation speed Vfb from which the high-frequency component is removed by the 1 st filter processing calculation unit 29 and the torque Tfb from which the high-frequency component is removed by the 2 nd filter processing calculation unit 31. Specifically, the speed command calculation unit 32 calculates the speed command Vref according to the following calculation formula (1).

The scanning time is a time of processing (processing by the active motion control unit 26) when the controller 12 executes the active motion in 1 cycle, and is a fixed value determined from the basic mechanical parameter. The virtual mass and the virtual viscosity are parameters, and according to these parameters, a predetermined resistance can be applied to the forearm 17, and the muscle tension can be maintained to improve the training effect.

When the speed command Vref calculated by the speed command calculation unit 32 is a speed command corresponding to rotation in the direction opposite to the active motion direction (the direction in which rotation should be performed during active motion), the speed command limitation unit 33 sets the speed command input to the active motion control unit 26 to 0.

When the active motion is performed, the active motion control unit 26 controls the motor 10 based on the speed command Vref calculated by the speed command calculation unit 32 and limited to 0 or more by the speed command limitation unit 33. As a result, when performing the active exercise, the active exercise control unit 26 can control the motor 10 so as to rotate only in a preset rotation direction (the direction in which the training subject person intends to rotate).

When switching from the control by the 2 nd passive motion control unit 25 to the control by the active motion control unit 26, the stimulation application processing unit 34 controls the stimulation application device 42 to apply a stimulation that induces a human body reaction (for example, a stretch reflex, an elastic force of a muscle, or the like) of the forearm portion 17. This makes it easier for the human body to react when switching from passive motion to active motion, and therefore, the training effect can be further improved. The switching time as referred to herein does not necessarily need to be the same as the switching time of the control. That is, if the time width spanning the control by the 2 nd passive motion control unit 25 and the control by the active motion control unit 26 is set to be such that the two are perceived as being simultaneous as the reflection of the human body at the time of switching, the application of the stimulation at the time of switching is equivalent to the application of the stimulation at the time of switching.

The stimulus applying device 42 is a device that is attached to the exercise function recovery training device 1 and applies a predetermined stimulus for inducing a human body reaction to a part related to the forearm 17. The device form of the stimulation device 42 is not particularly limited, and for example, it may be configured by 1 or more vibration generating devices (not shown) attached to the vicinity of the muscle portion to be trained of the forearm portion 17. In this case, the stimulation processing unit 34 individually controls the frequency and the vibration level of 1 or more vibration generators, and for example, by applying stimulation such as striking the skin or stimulation such that the vibration generators generate vibration with a time difference therebetween to rub the skin, it is possible to induce skin muscle reflex. For example, the stimulation applying device 42 may be configured by a vibration generating device and an electrical stimulation device, and may apply both vibration stimulation and electrical stimulation. In addition, for example, a device that ejects air from a nozzle, a device that operates so that bristles or a rod-like member is rubbed against the skin, or the like may be configured.

Before the training, the vibration application processing unit 35 controls the motor 10 so that the entire rotating unit 4 including the fixed member 15 vibrates at a predetermined frequency. This allows direct stimulation to be applied to the muscles of the forearm 17 before training, and allows relaxation of muscle tension to achieve efficient rehabilitation training. In this case, the vibration application processing unit 35 vibrates within the range of the movable range of the training subject measured at the start of training, and therefore, safety can be ensured.

The human body reaction amount calculation unit 36 calculates a human body reaction amount (rotation amount of the rotation unit 4) by which the fixed member 15 rotates due to the human body reaction of the forearm unit 17, from the time when the control by the 2 nd passive motion control unit 25 is switched to the control by the active motion control unit 26 until a predetermined time (for example, 100ms) elapses, based on the detection result of the encoder 11. The human body reaction amount calculated by the human body reaction amount calculation unit 36 may be output as training result data in a predetermined file format (for example, a CSV file).

The 1 st display control unit 37 causes the touch panel 9 to display the human body reaction amount calculated by the human body reaction amount calculation unit 36 (see fig. 9 described later). In the training execution process, the human body reaction amount is calculated according to each cycle, and the display of the human body reaction amount is updated according to each cycle.

The movable region measuring unit 38 measures the movable region of the forearm 17 by rotating the fixing member 15 by the motor 10. For example, the movable range measuring unit 38 rotates the fixed member 15 in the inward rotation direction and the outward rotation direction, respectively, and measures a rotation angle at which the load torque of the motor 10 (calculated by the torque calculating unit 30) reaches a predetermined value as a movable range (see fig. 9 described later).

The active exercise amount calculation unit 39 calculates the amount of active exercise, which is the amount by which the training target person autonomously rotates the fixing member 15 (the amount of rotation of the rotating unit 4), based on the detection result of the encoder 11 at the time of control by the active exercise control unit 26 (at the time of active exercise). The active exercise amount calculation unit 39 calculates an average value (average angle) of the amount of active exercise from the training start time. The method of detecting the amount of active exercise is not particularly limited, and for example, when the rotation speed calculated by the rotation speed calculation unit 28 is equal to or less than a predetermined value, or when the state of equal to or less than the predetermined value continues for a predetermined time or longer, it may be determined that the autonomous active exercise of the training target person is ended, and the amount of rotation from the start of the active exercise to that time may be used as the amount of active exercise. For example, when the torque calculated by the torque calculation unit 30 is equal to or less than a predetermined value or when the state of equal to or less than the predetermined value continues for a predetermined time or longer, it may be determined that the autonomous active exercise of the training target person is ended, and the amount of rotation from the start of the active exercise to that time may be used as the active exercise amount.

The completion rate calculation unit 40 calculates an active completion rate (0 to 100%) which is a ratio of the amount of active motion to the movable range, based on the amount of active motion calculated by the active motion amount calculation unit 39 and the movable range measured by the movable range measurement unit 38. The active completion rate calculated by the completion rate calculation unit 40 may be output as training result data in a predetermined file format (e.g., CSV file).

The 2 nd display control unit 41 causes the touch panel 9 to display the active completion rate calculated by the completion rate calculation unit 40 and the average active motion amount calculated by the active motion amount calculation unit 39 (see fig. 9 described later). In the execution process of training, the calculation of the active completion rate and the average active exercise amount is performed according to each cycle, and the display of the active completion rate and the average active exercise amount is updated according to each cycle.

Fig. 9 and 10 are explanatory views showing an example of display on the touch panel 9 by the 1 st display control unit 37 and the 2 nd display control unit 41. As shown in fig. 9, a training type screen 43, a moving state screen 44, and a training status screen 45 are displayed on the touch panel 9. In the training type screen 43, any one of the above-described "inward rotation", "outward rotation", "inward rotation", and outward rotation "can be selected as a training type. In the example shown in fig. 9, "pronation" is selected.

In the motion state screen 44, the 2 nd display control section 41 displays an active completion rate display section 46 for the inward rotation motion and the outward rotation motion, respectively, and displays an average active motion amount display section 47. In the example shown in fig. 9, since "inward rotation" is selected in the training category, the active completion rate display unit 46 corresponding to the inward rotation motion is displayed, and the active completion rate display unit 46 corresponding to the outward rotation motion is not displayed (or may be displayed shallowly). The active achievement rate display unit 46 is configured by, for example, a plurality of meters, and visualizes the active achievement rate calculated by the achievement rate calculation unit 40 by lighting the number of meters corresponding to the magnitude of the value. When the active completion rate is near the maximum value (a value close to 100%), the active completion rate display unit 46 lights a predetermined mark 48 (e.g., a smear mark (スミレマーク)) located at the uppermost portion of the plurality of meters. In this way, by displaying the active completion rate with a meter or a mark, the amount of autonomous movement of the training target person can be visualized in an easily understandable manner. The average active exercise amount display unit 47 displays the average value of the active exercise amount from the training start time as an average angle (87 ° in this example).

In the training situation screen 45, the 1 st display control unit 37 displays the human body reaction amount display unit 49 for the internal rotation exercise and the external rotation exercise, respectively. In the example shown in fig. 9, since "internal rotation" is selected according to the training type, the human body reaction amount display unit 49 corresponding to the internal rotation exercise is displayed, and the human body reaction amount display unit 49 corresponding to the external rotation exercise is not displayed (or may be displayed in a shallow manner). The human body reaction amount display unit 49 visualizes the human body reaction amount calculated by the human body reaction amount calculation unit 36 by displaying a number of marks 50 (for example, smear marks) corresponding to the magnitude of the value. For example, when the human body reaction amount is 5 ° or less, 0 is indicated by the index 50, when the human body reaction amount is in the range of 6 ° to 11 °, 1 is indicated by the index 50, when the human body reaction amount is in the range of 12 ° to 17 °, 2 is indicated by the index 50, when the human body reaction amount is in the range of 18 ° to 23 °, 3 is indicated by the index 50, when the human body reaction amount is in the range of 24 ° to 29 °, 4 is indicated by the index 50, and when the human body reaction amount is 30 ° or more, 5 is indicated by the index 50. In the example shown in fig. 9, the human body reaction amount is in the range of 18 ° to 23 °, and 3 markers 50 are shown. In this way, by displaying the magnitude of the human body reaction amount by the number of markers, the presence or absence of the human body reaction of the training target person and the magnitude thereof can be visualized in an easily understandable manner.

In addition to the human body reaction amount, the training status screen 45 displays the number of times of training 51, the remaining time 52, the number of cycles 53 executed in the present training, the range of motion 54 in the internal rotation direction and the range of motion 55 in the external rotation direction measured by the range of motion measuring unit 38, and the direction of rotation 56 indicating the direction to be rotated in the active exercise.

Fig. 10 shows an example of display in the case where "outward rotation" is selected as the training type. As shown in fig. 10, the active completion rate display unit 46 corresponding to the outward rotation motion is displayed on the motion state screen 44, and the active completion rate display unit 46 corresponding to the inward rotation motion is not displayed (or may be displayed in a shallow manner). In the example shown in fig. 10, the active completion rate is near the maximum value (a value close to 100%), and the active completion rate display unit 46 lights all the instruments and the uppermost marker 48. In the training situation screen 45, the human body reaction amount display unit 49 corresponding to the outward rotation movement is displayed, but the human body reaction amount display unit 49 corresponding to the inward rotation movement is not displayed (or may be displayed in a shallow manner). In the example shown in fig. 10, the human body reaction amount is in the range of 24 ° to 29 °, and 4 marks 50 are displayed.

When the "outward rotation" is selected in the training type, the display content shown in fig. 9 and the display content shown in fig. 10 are alternately switched and displayed in accordance with the switching between the inward rotation motion and the outward rotation motion.

The screen structure is an example, and other items may be displayed in addition to or instead of the items, or a part of the items may not be displayed. The mark or symbol may be changed to another type, or the amount of human body reaction or the active completion rate may be displayed by a numerical value, for example.

The processing units of the controller 12 are not limited to the examples in which the processing units are divided, and may perform processing by a smaller number of processing units (for example, 1 processing unit), or may perform processing by a further divided processing unit. The part (inverter, etc.) of the controller 12 that supplies the drive power to the motor 10 is installed by an actual device, and other functions may be installed by a program executed by a CPU901 (see fig. 15) described later, or a part or all of them may be installed by an actual device such as an ASIC, an FPGA, or another circuit.

< 3. processing sequence of controller >

Next, an example of a processing procedure executed by the CPU901 of the controller 12 will be described with reference to fig. 11 to 13.

As shown in fig. 11, in step S10, the controller 12 rotates the fixed member 15 by the motor 10 to measure the range of motion of the forearm 17 by the range of motion measuring unit 38.

In step S20, the controller 12 sets the training type to any one of "internal rotation", "external rotation", "internal rotation", and external rotation "by the training type setting unit 57 based on the selection input of the training type on the touch panel 9.

In step S30, the controller 12 controls the motor 10 by the vibration application processing unit 35 so that the entire rotating unit 4 vibrates at a predetermined frequency.

In step S100, the controller 12 executes passive motion processing. The passive exercise processing will be described below (see fig. 11).

In step S200, the controller 12 executes active movement processing. The content of the active movement processing is described below (see fig. 12).

In step S40, the controller 12 determines whether or not to end the training. Whether or not to end the training is determined, for example, by whether or not a set training time has elapsed, or whether or not to end the set number of cycles. If the training is not ended (no in step S40), the process returns to step S100, and steps S100 and S200 are repeated until the training is ended. When the training is finished (step S40: yes), the present flow is finished.

Fig. 12 shows an example of the processing procedure of the passive exercise processing in step S100. In fig. 12, a case where the training type is set to "pronation" or "supination" in step S20 will be described.

As shown in fig. 12, in step S110, the controller 12 controls the rotation speed of the motor 10 by the 1 st passive motion control unit 24 so that the motor 10 is driven at the 1 st set speed V1.

In step S120, the controller 12 controls the switching unit 27 to determine whether or not the detection position of the encoder 11 has reached the 1 st rotation position P1. If the first rotational position P1 is not reached (no in step S120), the process returns to step S110. On the other hand, when the vehicle reaches the 1 st rotational position P1 (YES in step S120), the process proceeds to step S130.

In step S130, the controller 12 controls the rotation speed of the motor 10 by the 2 nd passive motion control unit 25 so that the motor 10 is driven at the 2 nd set speed V2.

In step S140, the controller 12 controls the switching unit 27 to determine whether or not the detection position of the encoder 11 has reached the 2 nd rotation position P2. If the 2 nd rotation position P2 is not reached (no in step S140), the process returns to step S130. On the other hand, when the vehicle reaches the 2 nd rotation position P2 (YES in step S140), the passive motion processing is ended, and the process proceeds to the active motion processing in step S200.

Fig. 13 shows an example of the processing procedure of the active motion processing in step S200. In fig. 13, a case where the training type is set to "internal rotation" or "external rotation" in step S20 will be described.

As shown in fig. 13, in step S205, the controller 12 determines whether or not a preset set time (waiting time for the start of active exercise) has elapsed from the start of active exercise processing, which is the time when the control by the 2 nd passive exercise control unit 25 is switched to the control by the active exercise control unit 26, by the human body reaction amount calculation unit 36. This step is repeated until the set time elapses (no in step S205), and when the set time elapses (yes in step S205), the process proceeds to step S210.

In step S210, the controller 12 calculates, by the human body reaction amount calculation unit 36, a human body reaction amount (the amount of rotation of the rotation unit 4) by which the fixed member 15 rotates due to the human body reaction of the forearm unit 17 during a period from the start time of the active exercise process to the elapse of a preset set time period, based on the detection result of the encoder 11. Then, the 1 st display control unit 37 displays the calculated human body reaction amount on the touch panel 9.

In step S215, the controller 12 controls the speed of the motor 10 based on the speed command Vref by the active motion control unit 26.

In step S220, the controller 12 calculates the rotation speed of the motor 10 from the detection result of the encoder 11 by the rotation speed calculation unit 28.

In step S225, the controller 12 removes, by the first filter processing operation unit 29, the high frequency component higher than the predetermined frequency from the signal of the rotation speed calculated in step S220.

In step S230, the controller 12 calculates a torque from the rotation speed calculated in step S220 by the torque calculation unit 30. Further, as described above, for example, in the case where a torque sensor is provided, the torque may be calculated based on the detection result of the torque sensor

In step S235, the controller 12 removes, by the 2 nd filter processing operation unit 31, a high frequency component higher than the predetermined frequency from the torque signal calculated in step S230.

In step S240, the controller 12 calculates the speed command Vref by the speed command calculation unit 32 based on the rotation speed from which the high-frequency component is removed in step S225 and the torque from which the high-frequency component is removed in step S235.

In step S245, the controller 12 determines, by the speed command limiting unit 33, whether or not the speed command Vref calculated in step S250 is in the direction opposite to the active movement direction (the direction in which the training subject rotates during the active movement, the rotation direction 56 in fig. 9 and 10). When the speed command Vref is in the same direction as the active movement direction (no in step S245), the process proceeds to step S255, which will be described later. On the other hand, if the speed command Vref is in the direction opposite to the active movement direction (yes in step S245), the process proceeds to step S250.

In step S250, the controller 12 sets the speed command Vref input to the active motion control unit 26 to 0 by the speed command limiting unit 33.

In step S255, the controller 12 determines whether or not the detected position of the encoder 11 has reached the 3 rd rotation position P3, or whether or not it has been detected that the rotation speed calculated in step S220 is 0. If the rotation speed is not 0 without reaching the 3 rd rotation position P3 (no in step S255), the process returns to the previous step S210. On the other hand, when it is detected that the 3 rd rotation position P3 is reached or the rotation speed is 0 (YES in step S255), the process proceeds to step S260.

In step S260, the controller 12 calculates the active movement amount, which is the amount by which the training target person autonomously rotates the fixing member 15 (the amount of rotation of the rotating unit 4), based on the detection result of the encoder 11 by the active movement amount calculating unit 39. Further, the completion rate calculating unit 40 calculates the active completion rate, which is the ratio of the amount of active motion to the movable region, based on the calculated amount of active motion and the movable region measured in step S10. Further, the 2 nd display control unit 41 displays the calculated active completion rate on the touch panel 9. Thereafter, the active movement process is terminated, and the process proceeds to step S40 described above.

In addition, although the case where the training type is set to "internal rotation" or "external rotation" has been described above, when the training type is set to "internal rotation and external rotation", 1 cycle is formed by repeating step S100 and step S200 in fig. 11 2 times. In this case, in fig. 12, step S110 and step S120 are not executed, and only step S130 and step S140 are executed, and in step S140, it is determined whether or not the 4 th rotational position P4 or the 6 th rotational position P6 is reached. In addition, in fig. 13, in step S255, it is determined whether or not the 5 th rotational position P5 or the 7 th rotational position P7 is reached.

The process of applying the stimulus for inducing the human body reaction of the forearm portion 17 to the training target person by the stimulus application processing unit 34 is executed in a process different from the above-described flow.

< 4. effects of the present embodiment >

As described above, the exercise function recovery training device 1 of the present embodiment includes: a fixing member 15 which is rotatably supported and fixes the front arm portion 17; a motor 10 that rotates the fixing member 15 in a normal rotation direction and a reverse rotation direction; an encoder 11 that detects a rotational position of the motor 10; and a controller 12 that controls the motor 10 based on a detection result of the encoder 11, wherein the controller 12 includes an active motion control unit 26, and the active motion control unit 26 controls the motor 10 such that the fixing member 15 rotates only in a preset rotation direction when the training subject person autonomously performs an active motion for rotating the fixing member 15. This provides the following effects.

That is, in the exercise function recovery training device 1 of the present embodiment, when the training target person performs the active exercise, the controller 12 controls the motor 10 based on the rotational motion of the training target person, thereby applying a predetermined resistance to the forearm 17, maintaining the muscle tension, and improving the training effect. If the force of the training subject shakes during the active exercise, for example, as shown by a waveform 58 indicated by a one-dot chain line in fig. 7 and 8, since the motor 10 also shakes during the operation due to the occurrence of rotation in a direction opposite to the intended direction of rotation, the rotation of the fixed member 15 may not be able to be smoothly operated.

In the present embodiment, the motor 10 is controlled by the active motion control unit 26 so as to rotate only in a preset rotational direction. Accordingly, the fixing member 15 rotates only in the direction in which the training subject person wants to rotate, and the fixing member 15 can be smoothly rotated as shown by a waveform shown by a solid line in fig. 7 and 8, for example, and therefore, the training subject person can smoothly perform the active exercise.

In the present embodiment, the controller 12 includes: a rotation speed calculation unit 28 that calculates the rotation speed of the motor 10 based on the detection result of the encoder 11; a 1 st filter processing calculation unit 29 that removes a high-frequency component higher than a predetermined frequency from the rotation speed; and a speed command calculation unit 32 that calculates a speed command Vref based on the rotation speed Vfb from which the high-frequency component is removed, and the active motion control unit 26 controls the motor 10 based on the speed command Vref when performing active motion.

That is, in the exercise function recovery training device 1 of the present embodiment, when the training subject performs the active exercise, the rotation speed of the motor 10 is calculated based on the detection result of the encoder 11, the speed command Vref is calculated based on the calculated rotation speed, and the motor 10 is controlled based on the calculated speed command Vref. By making the speed command Vref smaller than the fed-back rotation speed, a predetermined resistance is applied to the forearm 17, and the muscle tension is maintained, thereby improving the training effect. If the force of the training subject shakes during the active exercise, for example, as shown by a waveform 59 indicated by a one-dot chain line in fig. 7 and 8, the magnitude of the force in the direction in which the training subject is to rotate slightly fluctuates (vibrates), and the like, and the shaking also occurs during the operation of the motor 10, and therefore the rotation of the fixing member 15 may not be able to be smoothly operated.

In the present embodiment, since the 1 st filter processing arithmetic unit 29 removes the high frequency component from the rotational speed, even when the force of the training subject person shakes, it is possible to remove the vibration component of the rotational speed due to the shaking. Accordingly, for example, as shown by the waveforms shown by the solid lines in fig. 7 and 8, since the fixing member 15 can be smoothly rotated, the trainee can smoothly perform the active exercise.

In the present embodiment, the controller 12 includes the speed command limiting unit 33, and the speed command limiting unit 33 sets the speed command Vref input to the active motion control unit 26 to 0 when the speed command Vref calculated by the speed command calculating unit 32 is negative, and in this case, the following effects can be obtained. That is, according to the above configuration, even when a force in a direction opposite to the direction in which the training target person moves with respect to the fixing member 15 is applied due to, for example, a shaking of the force of the training target person, the rotation speed of the fixing member 15 is 0, and the state of being stopped can be maintained. As a result, the fixing member 15 rotates only in the direction in which the training subject person is to move, and does not rotate in the opposite direction, so that the training subject person can perform the active exercise more smoothly.

In the present embodiment, the controller 12 includes: a torque calculation unit 30 that calculates a torque from the rotation speed; and a 2 nd filter processing calculation unit 31 for removing a high frequency component higher than the predetermined frequency from the torque, and the speed command calculation unit 31 calculates the speed command Vref based on the rotation speed Vfb from which the high frequency component is removed and the torque Tfb from which the high frequency component is removed.

That is, in the exercise function recovery training device 1 of the present embodiment, when the training subject performs the active exercise, the rotation speed of the motor 10 is calculated from the detection result of the encoder 11, the torque is calculated from the calculated rotation speed, the speed command Vref is calculated from the calculated rotation speed and torque, and the motor 10 is controlled based on the calculated speed command Vref. If the force of the training subject shakes during the active exercise, the calculated rotational speed and torque also shake, and as a result, the calculated speed command Vref also shakes, so that, for example, as shown by the waveforms 58 and 59 indicated by the one-dot chain lines in fig. 7 and 8, shaking also occurs during the operation of the motor 10, and there is a possibility that the rotation of the fixed member 15 cannot be smoothly operated.

In the present embodiment, since the high frequency component is removed from the rotational speed by the 1 st filter processing operation unit 29 and the high frequency component is removed from the torque by the 2 nd filter processing operation unit 31, even when the force of the training subject person shakes, the vibration components of the rotational speed and the torque due to the shake can be removed. Accordingly, for example, as shown by the waveform shown by the solid line in fig. 7 and 8, the fixing member 15 can be smoothly rotated, and thus the trainee can smoothly perform the active exercise.

In the present embodiment, the exercise function recovery training device 1 further includes a stimulus applying device 42, the stimulus applying device 42 applying a predetermined stimulus to a part related to the forearm 17 as a training target, and the controller 12 includes: a 2 nd passive motion control unit 25 that controls the rotation speed of the motor 10 so that the motor 10 is driven at a predetermined 2 nd set speed V2 when performing passive motion in which the motor 10 rotates the fixing member 15; a control switching unit 27 that switches control by the 2 nd passive motion control unit 25 to control by the active motion control unit 26 in accordance with the rotational position detected by the encoder 11; and a stimulus application processing unit 34 that controls the stimulus application device 42 so that the stimulus application device 42 applies a stimulus that induces a human body reaction of the forearm portion 17 when switching from the control by the 2 nd passive motion control unit 25 to the control by the active motion control unit 26, and in this case, the following effects can be obtained.

That is, in the exercise function recovery training device 1 of the present embodiment, in the passive exercise in which the motor 10 rotates the fixing member 15, the rotation speed of the motor 10 is controlled so that the motor 10 is driven at the 2 nd set speed V2 at a high speed, and then the human body reaction of the training subject stimulates muscles when switching to the active exercise, thereby improving the effect of recovering the exercise function. Further, when switching from the passive motion to the active motion, the human body reaction is more likely to occur by applying a stimulus that further induces the human body reaction to the training target person, and thus the training effect can be further improved. Therefore, more efficient rehabilitation training can be provided.

In the present embodiment, when the surface pressure of the portion of the fixing member 15 that contacts the distal end side (hand side) of the forearm 17 is higher than the surface pressure of the portion that contacts the proximal end side (elbow side) of the forearm 17, the following effects can be obtained.

That is, for example, in the exercise function recovery training device 1 that performs training to recover the exercise function of the forearm 17, the external force from the device at the time of passive exercise is transmitted to the forearm 17 via the fixing member 15. The torsion angle of the internal rotation and external rotation of the forearm 17 is larger on the hand side than on the elbow side. Therefore, if the front arm 17 is fixed by the fixed member 15 contacting with a constant surface pressure, a stronger pressure is applied from the fixed member 15 to the elbow side having a small twisting angle, and therefore, there is a problem that the training subject person cannot move to an angle (movable region) that can be twisted originally. On the other hand, in order to solve this problem, when fixing only the portion (wrist portion 18) that is desired to be twisted to the maximum extent is intended, there is also a problem that the local pressure on the skin or muscle is increased.

In the present embodiment, the surface pressure of the portion of the fixing member 15 that contacts the hand side of the forearm 17 is configured to be greater than the surface pressure of the portion that contacts the elbow side. This makes it possible to twist the forearm 17 to the original movable region of the training subject without increasing the local pressure on the skin or muscle. Therefore, the exercise function recovery training device 1 can perform training using the range of motion of the person to be trained to the maximum.

In the present embodiment, the controller 12 includes a vibration application processing unit 35, and before training, the vibration application processing unit 35 controls the motor 10 so that the fixing member 15 vibrates at a predetermined frequency. At this time, the following effects can be obtained.

In general, it is well known that vibration stimulation, e.g. less than 100Hz, is effective in order to relieve muscle tension, e.g. spasticity in hemiplegic patients. Therefore, in the exercise function recovery training device 1, it is conceivable to apply a hand massager or the like to a human body part before training to relax muscle tension, but in this case, there is a problem as follows: it is necessary to separately prepare a portable massage machine and it is difficult to apply the massage machine to an appropriate position (particularly, an external rotation muscle performing an external rotation movement is located in a deep layer portion, and direct stimulation is difficult even when vibration is applied to the skin).

In the present embodiment, before training, direct stimulation can be applied to the muscles of the forearm 17 to be trained by applying vibration of a predetermined frequency to the fixing member 15 using the motor 10. This makes it possible to provide the exercise function recovery training device 1 capable of performing efficient rehabilitation training by relaxing the tension of the muscle of the training subject and performing both preparatory exercise and training.

In the present embodiment, the exercise function recovery training device 1 further includes a touch panel 9, the touch panel 9 performs display related to training, and the controller 12 includes: a human body reaction amount calculation unit 36 that calculates a human body reaction amount by which the fixing member 15 rotates due to the human body reaction of the forearm portion 17 during a period from a time point when the control by the 2 nd passive motion control unit 25 is switched to the control by the active motion control unit 26 to an elapse of a predetermined time, based on a detection result of the encoder 11; and the 1 st display control unit 37 for displaying the human body reaction amount on the touch panel 9, the following effects can be obtained.

In the case of the exercise function recovery training device 1 that does not display the human body reaction amount, the training is performed without knowing whether the human body reaction has occurred, and therefore, there is a possibility that the training is not performed appropriately.

According to the present embodiment, the presence or absence of a human body reaction and the amount of the human body reaction can be visualized. As a result, the motivation of the training subject for training can be increased, and a therapist (physical therapist or task therapist) can perform more appropriate training by operating the display contents.

In the present embodiment, the exercise function recovery training device 1 further includes a touch panel 9, the touch panel 9 performs display related to training, and the controller 12 includes: a movable region measuring unit 38 for measuring a movable region of the forearm 17 by rotating the fixing member 15 by the motor 10; an active exercise amount calculation unit 39 that calculates an active exercise amount, which is an amount by which the training target person autonomously rotates the fixing member 15, based on the detection result of the encoder 11 when the control is performed by the active exercise control unit 26; a completion rate calculation unit 40 that calculates an active completion rate, which is a ratio of the amount of active motion to the movable region; and a 2 nd display control unit 41 for displaying the active completion rate on the touch panel 9, the following effects can be obtained.

If the exercise function recovery training device 1 does not show the active completion rate, the trainee does not know how much force the trainee can move with respect to the movable area during the active exercise, and therefore, therapists (physical therapists and task therapists) may not be able to accurately grasp the training situation and the recovery situation.

According to the present embodiment, the active completion rate, which is the ratio of the amount of active motion to the movable region, can be visualized. As a result, the motivation of the training subject for training can be increased, and therapists (physical therapists and task therapists) can grasp the training situation and the recovery situation more accurately by using the display contents.

< 5. modification

In the above, one embodiment is described in detail with reference to the drawings. However, the scope of the technical idea described in the claims is not limited to the embodiments described herein. It is obvious that a person having ordinary knowledge in the art to which the present embodiment pertains can conceive of various changes, modifications, combinations, and the like within the scope of the technical idea. Therefore, it is needless to say that the techniques of the above-described change, modification, combination, and the like are also within the scope of the technical idea.

For example, although the case where the human body part to be trained is the forearm 17 and training is performed by performing the external rotation motion and the internal rotation motion of the forearm 17 has been described above, the present invention can be applied to the case where training is performed by performing the flexion motion and the extension motion of the human body part having the joints such as the finger joint, the elbow joint, and the knee joint.

Fig. 14 shows an example of the configuration of a turning section 60 of a motion function recovery training device (not shown) for performing training by, for example, performing a bending motion and an extending motion of a finger. The rotating unit 60 includes a fixing member 61 for detachably fixing a finger of the person to be trained, and in the example shown in fig. 14, an index finger 62 is fixed. The fixed member 61 rotates about the rotation axis AX by the rotation of the rotating portion 60. As shown in fig. 14, the rotating portion 60 rotates clockwise to perform the stretching motion of the index finger 62, and rotates counterclockwise to perform the bending motion of the index finger 62. In the present modification, the rotating unit 60 is rotated by a motor (not shown), and the index finger 62 of the training subject person is subjected to stretching movement or bending movement by an external force, thereby performing passive movement. The turning unit 60 is turned by the autonomous stretching motion or bending motion of the person to be trained, and the person performs the active exercise. Other configurations and control contents are the same as those of the above embodiment. In this modification, the same effects as those of the above embodiment can be obtained.

< 6 example of hardware configuration of controller >

Next, with reference to fig. 15, a description will be given of an example of a hardware configuration of the controller 12 that realizes the processing of the 1 st passive motion control unit 24, the 2 nd passive motion control unit 25, the active motion control unit 26, and the like, which are installed by the program executed by the CPU901 described above. In fig. 15, the structure of the controller 12 for providing the motor 10 with driving power is appropriately omitted.

As shown in fig. 15, the controller 12 includes, for example, a CPU901, a ROM903 and a RAM905, an application specific integrated circuit 907 configured for a specific use such as an ASIC or an FPGA, an input device 913, an output device 915, a recording device 917, a driver 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input/output interface 911 so as to be able to transmit signals to each other.

The program can be recorded in the ROM903, the RAM905, the recording device 917, or the like, for example.

The program may be temporarily or permanently recorded in a magnetic disk such as a flexible disk, an optical disk such as various CD/MO disks or DVD, or a removable recording medium 925 such as a semiconductor memory, for example. Such a recording medium 925 may be provided as so-called package software. In this case, the programs recorded in these recording media 925 can be read out by the drive 919 and recorded in the above-described recording device 917 via the input/output interface 911, the bus 909, and the like.

The program may be recorded in, for example, a download site, another computer, another recording device, or the like (not shown). In this case, the program is transmitted via a network NW such as a LAN or the internet, and the communication device 923 receives the program. The program received by the communication device 923 may be recorded in the recording device 917 via the input/output interface 911, the bus 909, or the like.

In addition, the program may be recorded in the appropriate external connection device 927, for example. In this case, the program may be transferred through an appropriate connection port 921 and recorded in the recording device 917 through the input/output interface 911, the bus 909, and the like.

Then, the CPU901 executes various processes in accordance with the programs recorded in the above-described recording device 917, thereby realizing the processes based on the above-described 1 st passive motion control unit 24, 2 nd passive motion control unit 25, active motion control section 26, and the like. In this case, the CPU901 may be executed by reading out a program directly from the recording device 917, or may be temporarily loaded into the RAM 905. Further, for example, when receiving a program via the communication device 923, the drive 919, and the connection port 921, the CPU901 may directly execute the received program without recording the program in the recording device 917.

The CPU901 may perform various processes as necessary based on signals and information input from an input device 913 such as a mouse, a keyboard, and a microphone (not shown).

The CPU901 may output the result of the execution of the processing from the output device 915 such as a display device or an audio output device, or the CPU901 may transmit the processing result via the communication device 923 or the connection port 921 as necessary, or the CPU901 may record the processing result in the recording device 917 or the recording medium 925.

In the above description, when there are descriptions such as "vertical", "parallel", and "planar", the description is not intended to be strict. That is, these terms "perpendicular", "parallel" and "planar" refer to tolerances and errors that are allowed in design and manufacturing, and mean "substantially perpendicular", "substantially parallel" and "substantially planar".

In the above description, when there are descriptions that "same", "equal", "different", and the like in terms of apparent size or dimension, the description is not intended to be strict. That is, the terms "same", "equal" and "different" mean tolerances and errors in design and manufacturing, and mean "substantially the same", and "substantially different".

However, for example, when there is a description of a value as a predetermined criterion or a value as a distinction, such as a threshold value (see the flowcharts of fig. 12 and 13) or a reference value, the corresponding "same", "equal", or "different" has a strict meaning in comparison with the above.