JP2005278706A - Portable electromyogram and body shape measuring instrument - Google Patents
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- 230000037237 body shape Effects 0.000 title abstract 2
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 75
- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 230000003183 myoelectrical effect Effects 0.000 claims description 52
- 210000001364 upper extremity Anatomy 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 24
- 239000003814 drug Substances 0.000 abstract description 12
- 229940079593 drug Drugs 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 7
- 206010033799 Paralysis Diseases 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 5
- 208000016285 Movement disease Diseases 0.000 description 4
- 208000012902 Nervous system disease Diseases 0.000 description 3
- 208000025966 Neurological disease Diseases 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 208000021642 Muscular disease Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000000926 neurological effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
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Abstract
Description
本発明は、脳卒中、その他の神経、筋疾患の症態及びリハビリテーション過程で、患者の回復状態を定量的に計測するための携帯型筋電図・体動計測器に関する。 The present invention relates to a portable electromyogram / body movement measuring instrument for quantitatively measuring a patient's recovery state in the process of stroke, other neurological and muscular diseases, and the rehabilitation process.
従来、脳卒中、その他の神経、筋疾患の症態及びリハビリテーション過程で、医師は、その患者の左右下肢や左右上肢の筋電図を計測し、記録して解析することにより、患者に対するリハビリテーションの効果や薬剤等の効果を判定することがある。この場合、筋電図の計測と記録、及び解析等のために使用される計測器は、観察用オシロスコープやペン書きポリグラフ、それにデータレコーダや記録装置などを組み合わせた高価な構成になっており、病院の診察室等に固定的に設置されていることが多い。（非特許文献１参照） Conventionally, in the process of stroke, other neurological and muscular diseases, and the rehabilitation process, doctors measure, record and analyze the electromyogram of the patient's left and right lower limbs and left and right upper limbs, thereby rehabilitating the patient. The effect of drugs and drugs may be determined. In this case, the measuring instrument used for electromyogram measurement and recording, analysis, etc. has an expensive configuration combining an observation oscilloscope, a pen writing polygraph, a data recorder, a recording device, etc. It is often fixedly installed in hospital examination rooms. (See Non-Patent Document 1)
最近の医学研究によると、神経疾患患者の症態及びリハビリテーション過程で、医師が、患者に対するリハビリテーション効果や薬剤投入効果などを正確に判定する場合、患者の左右下肢や左右上肢の筋電図を、例えば歩行運動状態でリアルタイムに計測するとともに患者の体動を定量的に計測することが望ましいことが明らかになっている。
しかしながら、上記のような従来の筋電図計測器は、病院の診察室等に固定的に設置されていることが多いため、患者が歩行運動状態でリアルタイムに患者の筋電図を計測することは極めて困難である。また、患者の体動状態を定量的に計測することはできない。
According to recent medical research, in the pathology and rehabilitation process of patients with neurological diseases, when doctors accurately determine the rehabilitation effect and drug injection effect etc. for the patient, electromyograms of the patient's left and right lower limbs and left and right upper limbs, For example, it has become clear that it is desirable to measure a patient's body movement quantitatively while measuring in real time in a walking motion state.
However, since the conventional electromyogram measuring instrument as described above is often fixedly installed in a doctor's office or the like, the patient's electromyogram can be measured in real time while the patient is walking. Is extremely difficult. In addition, the patient's body movement state cannot be measured quantitatively.
そこで本発明では、被験者が運動状態であっても、リアルタイムに被験者の筋電図と体動とを同時に計測し、医師又は検者が被験者に対するリハビリテーションの効果や薬剤等の効果を定量的に判定することができる携帯型筋電図・体動計測器を提供することを解決すべき課題とするものである。 Therefore, in the present invention, even when the subject is in an exercise state, the electromyogram and body movement of the subject are simultaneously measured in real time, and the doctor or the examiner quantitatively determines the effect of rehabilitation on the subject or the effect of the drug or the like. It is a problem to be solved to provide a portable electromyogram / body motion measuring instrument that can be used.
上記課題は、特許請求の範囲の欄に記載した携帯型筋電図・体動計測器により解決することができる。
請求項１に記載の携帯型筋電図・体動計測器によれば、例えば、脳卒中等により左下肢が麻痺状態にある反面、右下肢が正常である被験者（患者）がリハビリテーションをする場合、筋電位センサと体動センサとを被験者の左右下肢それぞれの同一的な部位に取り付けた状態で、被験者が歩行運動等を開始すると、筋電位センサにより検出された被験者の左右下肢それぞれの筋電位に対応した筋電位信号と、体動センサにより検出された被験者の左右下肢それぞれの動きに対応した体動信号とが、被験者が携帯している携帯無線送信手段に入力される。携帯無線送信手段は、それぞれの筋電位信号と体動信号とを無線信号に変換して受信手段に送信する。受信手段は、携帯無線送信手段から送信された筋電位信号と体動信号とを筋電位データと体動データとに変換して解析手段に送る。解析手段は、筋電位データに基づいて左右下肢それぞれの筋電図を作成するとともに、その筋電図と上記体動データとに基づいて当該被験者の左右下肢それぞれの生体状態を比較可能に解析する。これにより、医師又は検者は、被験者に対するリハビリテーションの効果や薬剤等の効果を判定することができる。
尚、上記のように被験者の被験部位を左右下肢とする以外に、左右上肢としても同様である。
The above-described problems can be solved by the portable electromyogram / body movement measuring instrument described in the claims.
According to the portable electromyogram / body motion measuring instrument according to claim 1, for example, when a subject (patient) whose right lower limb is normal rehabilitates while the left lower limb is paralyzed due to stroke or the like, With the myoelectric potential sensor and the body motion sensor attached to the same part of each of the left and right lower limbs of the subject, when the subject starts walking, etc., the myoelectric potentials of the left and right lower limbs of the subject detected by the myoelectric potential sensor The corresponding myoelectric potential signal and the body motion signal corresponding to the movements of the left and right lower limbs of the subject detected by the body motion sensor are input to the portable wireless transmission means carried by the subject. The portable wireless transmission means converts each myoelectric potential signal and body motion signal into a wireless signal and transmits it to the reception means. The receiving means converts the myoelectric potential signal and the body movement signal transmitted from the portable wireless transmission means into myoelectric potential data and body movement data and sends them to the analyzing means. The analysis means creates an electromyogram for each of the left and right lower limbs based on the myoelectric potential data, and analyzes the biological state of each of the subject's left and right lower limbs based on the electromyogram and the body motion data so as to be comparable. . Thereby, the doctor or the examiner can determine the effect of the rehabilitation on the subject, the effect of the medicine, and the like.
The same applies to the left and right upper limbs as well as the subject's test site as the left and right lower limbs as described above.
本発明によれば、被験者が運動状態であっても、リアルタイムに被験者の筋電図と体動とを同時に計測することができるため、医師又は検者は、被験者に対するリハビリテーションの効果や薬剤等の効果を定量的に判定することができる。 According to the present invention, even if the subject is in an exercise state, the electromyogram and body movement of the subject can be simultaneously measured in real time. Therefore, the doctor or the examiner can determine the effects of rehabilitation on the subject, drugs, etc. The effect can be determined quantitatively.
次に、本発明の実施の形態について説明する。
図１は、患者２が運動状態でもリアルタイムに患者２の筋電図と体動とを同時に計測することができる携帯型筋電図・体動計測器１の全体的な構成を示した系統図である。尚、この患者２は、脳卒中による運動障害により左下肢４が麻痺状態にある反面、右下肢３が正常であり、リハビリテーション過程にある。
Next, an embodiment of the present invention will be described.
FIG. 1 is a system diagram showing an overall configuration of a portable electromyogram / body movement measuring instrument 1 that can simultaneously measure the electromyogram and body movement of the patient 2 in real time even when the patient 2 is in an exercise state. It is. The patient 2 is in a rehabilitation process because the left lower limb 4 is paralyzed due to a movement disorder due to stroke, while the right lower limb 3 is normal.
図１に示すように、携帯型筋電図・体動計測器１は、患者２の右下肢３に貼着されて右下肢３の筋電位を検出する筋電位センサ３ａ，３ｂ，３ｃと、患者２の左下肢４に貼着されて左下肢４の筋電位を検出する筋電位センサ４ａ，４ｂ，４ｃと、患者２の右下肢３に貼着されて患者２の右下肢３の体動を検出する体動センサ３ｍと、患者２の左下肢４に貼着されて患者２の左下肢４の体動を検出する体動センサ４ｍとを用いる。
尚、上記筋電位センサ３ａ，３ｂ，３ｃ，４ａ，４ｂ，４ｃにおいて、３ｂ，４ｂは参照電極の役目を有し、３ａ，３ｃ，４ａ，４ｃは計測電極の役目を持つ。また、体動センサ３ｍ，４ｍは、右下肢３、左下肢４の動きに伴う加速度を検出するものである。
As shown in FIG. 1, the portable electromyogram / body motion measuring instrument 1 is attached to the right lower limb 3 of a patient 2 to detect myoelectric potentials of the right lower limb 3, and myoelectric potential sensors 3 a, 3 b, 3 c, Myoelectric sensors 4a, 4b, 4c that are attached to the left lower limb 4 of the patient 2 to detect the myoelectric potential of the left lower limb 4, and body movements of the right lower limb 3 of the patient 2 that are attached to the right lower limb 3 of the patient 2 And a body motion sensor 4m that is attached to the left lower limb 4 of the patient 2 and detects the body motion of the left lower limb 4 of the patient 2.
In the myoelectric sensors 3a, 3b, 3c, 4a, 4b and 4c, 3b and 4b serve as reference electrodes, and 3a, 3c, 4a and 4c serve as measurement electrodes. The body motion sensors 3m and 4m detect accelerations accompanying the movements of the right lower limb 3 and the left lower limb 4.
携帯型筋電図・体動計測器１は、また、上記患者２の例えば腰部に取り付けられ、患者２に携帯される携帯型送信機５を有する。この携帯型送信機５は、上記筋電位センサ３ａ，３ｂ，３ｃ，４ａ，４ｂ，４ｃ、及び上記体動センサ３ｍ，４ｍにより検出された筋電位及び体動の検出信号を電波信号に変換して送信する電子回路を有するものである。尚、この電波信号は変調され、携帯型送信機５のアンテナ５ａから、電波法に抵触しない弱い出力電力で送信されるもので、その送信周波数は、例えば３１４．５ＭＨｚを使用している。また、携帯型送信機５は、電源として電池を内蔵し、図示していない電源スイッチをオンすることによって、携帯型送信機５と、上記筋電位センサ３ａ，３ｂ，３ｃ，４ａ，４ｂ，４ｃ、体動センサ３ｍ，４ｍが稼動状態になる。 The portable electromyogram / body motion measuring instrument 1 also has a portable transmitter 5 that is attached to, for example, the waist of the patient 2 and carried by the patient 2. The portable transmitter 5 converts myoelectric potential and body motion detection signals detected by the myoelectric potential sensors 3a, 3b, 3c, 4a, 4b, and 4c and the body motion sensors 3m and 4m into radio wave signals. And an electronic circuit for transmitting. This radio signal is modulated and transmitted from the antenna 5a of the portable transmitter 5 with weak output power that does not conflict with the radio law, and the transmission frequency is, for example, 314.5 MHz. The portable transmitter 5 incorporates a battery as a power source, and turns on a power switch (not shown), so that the portable transmitter 5 and the myoelectric potential sensors 3a, 3b, 3c, 4a, 4b, 4c The body motion sensors 3m and 4m are in the operating state.
携帯型送信機５のアンテナ５ａから送信された上記電波信号は、病院の診察室等に置かれた受信機６により受信される。受信機６は、スーパーヘテロダイン方式の受信回路を有し、アンテナ６ａを介して受信した上記電波信号を復調したうえ、この復調した信号を積分回路で積分し、筋電位データや体動データとして出力する。 The radio wave signal transmitted from the antenna 5a of the portable transmitter 5 is received by the receiver 6 placed in a hospital examination room or the like. The receiver 6 has a superheterodyne reception circuit, demodulates the radio wave signal received via the antenna 6a, integrates the demodulated signal with an integration circuit, and outputs it as myopotential data or body movement data. To do.
受信機６から出力された筋電位データや体動データは、ＲＳ−２３２ＣストレートケーブルやＵＳＢケーブル等の信号ケーブル７を介してパーソナルコンピュータ８に伝送される。パーソナルコンピュータ８は、上記筋電位データや体動データを記録部にリアルタイムに記録する。 The myoelectric potential data and body movement data output from the receiver 6 are transmitted to the personal computer 8 via a signal cable 7 such as an RS-232C straight cable or a USB cable. The personal computer 8 records the myoelectric potential data and body movement data in a recording unit in real time.
パーソナルコンピュータ８は、筋電位データや体動データを記録するソフトウエアと、記録した筋電位データや体動データに基づいて当該患者２の右下肢３と左下肢４の生体状態を定量的に解析し、比較するためのソフトウエアを有している。 The personal computer 8 quantitatively analyzes the biological state of the right lower limb 3 and the left lower limb 4 of the patient 2 based on software for recording myoelectric potential data and body movement data and the recorded myoelectric potential data and body movement data. And has software for comparison.
パーソナルコンピュータ８は、上記筋電位データに基づいて当該患者２の右下肢３と左下肢４それぞれの筋電図を作成するとともに、それぞれの筋電図と右下肢３及び左下肢４の体動データとに基づいて、正常な右下肢３と麻痺状態にある左下肢４の生体状態の差、即ち、左下肢４のリハビリテーション効果や薬剤等の効果を定量的に解析する。この場合、パーソナルコンピュータ８は、医師又は検者が左下肢４のリハビリテーション効果を定量的に認識できるように、ディスプレイ８ａに数値データを表示させる。これにより、医師又は検者は、患者２の脳卒中等に起因する運動障害の回復過程でのリハビリテーション効果や薬剤等の効果を判定することができる。
The personal computer 8 creates electromyograms for the right lower limb 3 and the left lower limb 4 of the patient 2 based on the myoelectric potential data, and the electromyogram and the body motion data of the right lower limb 3 and the left lower limb 4. Based on the above, the difference between the normal state of the right lower limb 3 and the left lower limb 4 in the paralyzed state, that is, the rehabilitation effect of the left lower limb 4 and the effect of the drug or the like are quantitatively analyzed. In this case, the personal computer 8 displays numerical data on the
次に、携帯型筋電図・体動計測器１の作用を説明する。
携帯型筋電図・体動計測器１を使用する患者２は、脳卒中等に起因して左下肢４が麻痺状態にあり、右下肢３が正常であって、リハビリテーションをしている。携帯型筋電図・体動計測器１を構成する携帯型送信機５を患者２の腰部に保持した状態で、筋電位センサ３ａ，３ｂ，３ｃを右下肢３に貼着し、筋電位センサ４ａ，４ｂ，４ｃを左下肢４に貼着する。また、体動センサ３ｍを右下肢３に貼着し、体動センサ４ｍを左下肢４に貼着する。この状態で、携帯型送信機５の電源スイッチをオンする。
Next, the operation of the portable electromyogram / body motion measuring instrument 1 will be described.
A patient 2 who uses the portable electromyogram / body motion measuring instrument 1 is in rehabilitation because the left lower limb 4 is paralyzed and the right lower limb 3 is normal due to stroke or the like. With the portable transmitter 5 constituting the portable electromyogram / body movement measuring instrument 1 held on the waist of the patient 2, the myoelectric sensors 3a, 3b, 3c are attached to the right lower limb 3, and the myoelectric sensor 4a, 4b, and 4c are stuck on the left lower limb 4. Further, the body motion sensor 3 m is attached to the right lower limb 3, and the body motion sensor 4 m is attached to the left lower limb 4. In this state, the power switch of the portable transmitter 5 is turned on.
上記準備操作が完了したあと、患者２は医師に指示された所定の体動、例えばイスに腰掛けた状態から立ち上がり、歩行を開始すると、筋電位センサ３ａ，３ｂ，３ｃ，４ａ，４ｂ，４ｃにより右下肢３、左下肢４それぞれの筋電位が検出されるとともに、体動センサ３ｍ，４ｍにより右下肢３、左下肢４それぞれの体動が検出される。右下肢３、左下肢４それぞれの筋電位が筋電位センサ３ａ，３ｂ，３ｃ，４ａ，４ｂ，４ｃにより検出されると、右下肢３、左下肢４それぞれの筋電位検出信号が携帯型送信機５に入力される。また、右下肢３、左下肢４それぞれの体動が体動センサ３ｍ，４ｍにより検出されると、右下肢３、左下肢４それぞれの体動検出信号が携帯型送信機５に入力される。 After the above preparation operation is completed, when the patient 2 stands up from a predetermined body movement instructed by the doctor, for example, sitting on a chair and starts walking, the myoelectric sensors 3a, 3b, 3c, 4a, 4b, 4c The myoelectric potentials of the right lower limb 3 and the left lower limb 4 are detected, and the body movements of the right lower limb 3 and the left lower limb 4 are detected by the body motion sensors 3m and 4m. When the myoelectric potentials of the right lower limb 3 and the left lower limb 4 are detected by the myoelectric potential sensors 3a, 3b, 3c, 4a, 4b, and 4c, the myoelectric potential detection signals of the right lower limb 3 and the left lower limb 4 are transmitted to the portable transmitter. 5 is input. When the body motions of the right lower limb 3 and the left lower limb 4 are detected by the body motion sensors 3 m and 4 m, the body motion detection signals of the right lower limb 3 and the left lower limb 4 are input to the portable transmitter 5.
上記の筋電位検出信号及び体動検出信号が携帯型送信機５に入力されると、携帯型送信機５は、筋電位検出信号及び体動検出信号を電波信号に変換してアンテナ５ａから送信する。この場合、この電波信号は変調され、送信周波数が３１４．５ＭＨｚで受信機６に送信される。受信機６は、アンテナ６ａを介して受信した上記電波信号を復調したうえ、この復調した信号を積分回路で積分し、右下肢３、左下肢４それぞれの筋電位データや体動データとしてパーソナルコンピュータ８に出力する。 When the myoelectric potential detection signal and the body movement detection signal are input to the portable transmitter 5, the portable transmitter 5 converts the myoelectric potential detection signal and the body movement detection signal into radio wave signals and transmits them from the antenna 5a. To do. In this case, this radio signal is modulated and transmitted to the receiver 6 at a transmission frequency of 314.5 MHz. The receiver 6 demodulates the radio wave signal received via the antenna 6a, integrates the demodulated signal with an integration circuit, and outputs the personal computer as myoelectric potential data and body movement data for the right lower limb 3 and the left lower limb 4 respectively. 8 is output.
パーソナルコンピュータ８は、上記筋電位データや体動データを記録部にリアルタイムに記録する。また、パーソナルコンピュータ８は、上記筋電位データに基づいて当該患者２の右下肢３と左下肢４それぞれの筋電図を作成するとともに、それぞれの筋電図と右下肢３、左下肢４の体動データとに基づいて、正常な右下肢３と麻痺状態にある左下肢４の生体的な差、即ち、左下肢４のリハビリテーション効果を定量的に解析し、医師又は検者が左下肢４のリハビリテーション効果を定量的に認識できるように、ディスプレイ８ａに数値データを表示させる。これにより、医師又は検者は、患者２の脳卒中等に起因する運動障害の回復過程でのリハビリテーション効果や薬剤等の効果を定量的に判定することができる。
The personal computer 8 records the myoelectric potential data and body movement data in a recording unit in real time. In addition, the personal computer 8 creates electromyograms for the right lower limb 3 and the left lower limb 4 of the patient 2 based on the myoelectric potential data, and the electromyogram and the body of the right lower limb 3 and the left lower limb 4. Based on the movement data, the biological difference between the normal right lower limb 3 and the paralyzed left lower limb 4, that is, the rehabilitation effect of the left lower limb 4 is quantitatively analyzed. Numerical data is displayed on the
以上説明した発明の実施の形態では、患者２の右下肢３と左下肢４の筋電位と体動とを検出する例を示したが、患者２の運動障害では右上肢１０や左上肢１１が麻痺することもある。その場合、患者２の右上肢１０、左上肢１１の筋電位と体動とを検出する。これにより、医師又は検者が右上肢１０もしくは右上肢１１のリハビリテーション効果や薬剤等の効果を判定することができるようなソフトウエアをパーソナルコンピュータ８に内蔵する。 In the embodiment of the invention described above, an example in which the myoelectric potential and body movement of the right lower limb 3 and the left lower limb 4 of the patient 2 are detected has been shown, but in the movement disorder of the patient 2, the upper right limb 10 and the left upper limb 11 are May be paralyzed. In that case, the myoelectric potential and body movement of the upper right limb 10 and the left upper limb 11 of the patient 2 are detected. Thus, software that allows the doctor or examiner to determine the rehabilitation effect of the upper right limb 10 or the upper right limb 11 or the effect of the medicine or the like is incorporated in the personal computer 8.
また、発明の実施の形態では、筋電位センサ３ａ，３ｂ，３ｃを第１チャンネル、筋電位センサ４ａ，４ｂ，４ｃを第２チャンネルとする二つのチャンネルを有し、第１チャンネルにより右下肢３の筋電位を検出するとともに、第２チャンネルにより左下肢４の筋電位を検出するようにしたが、右下肢３、左下肢４それぞれの筋電位を複数のチャンネルで検出してもよい。 In the embodiment of the invention, there are two channels in which the myoelectric potential sensors 3a, 3b, 3c are the first channel and the myoelectric potential sensors 4a, 4b, 4c are the second channel. Although the myoelectric potential of the left lower limb 4 is detected by the second channel, the myoelectric potentials of the right lower limb 3 and the left lower limb 4 may be detected by a plurality of channels.
１ 携帯型筋電図・体動計測器
２ 患者
３ 右下肢
４ 左下肢
３ａ，３ｂ，３ｃ 筋電位センサ
４ａ，４ｂ，４ｃ 筋電位センサ
３ｍ 体動センサ
４ｍ 体動センサ
５ 携帯型送信機
６ 受信機
７ ケーブル
８ パーソナルコンピュータ
１０ 右上肢
１１ 左上肢
DESCRIPTION OF SYMBOLS 1 Portable electromyogram / body movement measuring instrument 2 Patient 3 Right lower limb 4 Left lower limb 3a, 3b, 3c Myoelectric sensor 4a, 4b, 4c Myoelectric sensor 3m Body motion sensor 4m Body motion sensor 5 Portable transmitter 6 Reception Machine 7 Cable 8 Personal computer 10 Upper right limb 11 Left upper limb
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| JP2004093454A JP2005278706A (en) | 2004-03-26 | 2004-03-26 | Portable electromyogram and body shape measuring instrument |
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| JP2004093454A JP2005278706A (en) | 2004-03-26 | 2004-03-26 | Portable electromyogram and body shape measuring instrument |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008123040A1 (en) | 2007-03-22 | 2008-10-16 | University Of Tsukuba | Rehabilitation supporting device |
| WO2009025256A1 (en) * | 2007-08-20 | 2009-02-26 | University Of Tsukuba | Action-aiding system for wearable type action-aiding device, wearable type action-aiding device, and action-aiding method for the wearable type action-aiding device |
| WO2015150931A1 (en) * | 2014-04-03 | 2015-10-08 | Universiti Brunei Darussalam | Realtime biofeedback mechanism and data presentation for knee injury rehabilitation monitoring and a soft real time intelligent system thereof |
| CN106313049A (en) * | 2016-10-08 | 2017-01-11 | 华中科技大学 | Somatosensory control system and control method for apery mechanical arm |
-
2004
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008123040A1 (en) | 2007-03-22 | 2008-10-16 | University Of Tsukuba | Rehabilitation supporting device |
| CN101636142B (en) * | 2007-03-22 | 2011-12-07 | 国立大学法人筑波大学 | rehabilitation supporting device |
| US8574176B2 (en) | 2007-03-22 | 2013-11-05 | University Of Tsukuba | Rehabilitation supporting device |
| WO2009025256A1 (en) * | 2007-08-20 | 2009-02-26 | University Of Tsukuba | Action-aiding system for wearable type action-aiding device, wearable type action-aiding device, and action-aiding method for the wearable type action-aiding device |
| JP2009066395A (en) * | 2007-08-20 | 2009-04-02 | Univ Of Tsukuba | Wearable motion assist device, motion assist system, wearable motion assist device, and motion assist method of wearable motion assist device |
| KR101052692B1 (en) | 2007-08-20 | 2011-07-29 | 고쿠리쯔 다이가쿠 호징 츠쿠바 다이가쿠 | Motion Assistance System of Mountable Motion Aid, Mounted Motion Aid, and Motion Assistance Method of Mounted Motion Aid |
| US8690802B2 (en) | 2007-08-20 | 2014-04-08 | University Of Tsukuba | Motion-assist system of wearable motion-assist device, wearable motion-assist device, and motion-assist method of wearable motion-assist device |
| US9168195B2 (en) | 2007-08-20 | 2015-10-27 | University Of Tsukuba | Motion-assist system of wearable motion-assist device, wearable motion-assist device, and motion-assist method of wearable motion-assist device |
| WO2015150931A1 (en) * | 2014-04-03 | 2015-10-08 | Universiti Brunei Darussalam | Realtime biofeedback mechanism and data presentation for knee injury rehabilitation monitoring and a soft real time intelligent system thereof |
| US10004455B2 (en) | 2014-04-03 | 2018-06-26 | Universiti Brunei Darussalam | Realtime biofeedback mechanism and data presentation for knee injury rehabilitation monitoring and a soft real time intelligent system thereof |
| CN106313049A (en) * | 2016-10-08 | 2017-01-11 | 华中科技大学 | Somatosensory control system and control method for apery mechanical arm |
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