JP5478440B2 - Upper limb exercise training device - Google Patents

Description

  The present invention relates to an upper limb exercise training apparatus used for training to restore the motor function of a paralyzed upper limb of a patient.

  Some patients suffering from stroke may have paralysis on their body as a sequelae. Of the several types of paralysis, what is called hemiplegia, where the right half of the body is paralyzed or the left half is paralyzed, is the most common. Various training devices have been proposed for recovery of hemiplegic patients (see, for example, Patent Document 1 (page 3, FIG. 2, FIG. 3)).

Patent document 1 is demonstrated based on the following figure.
As shown in FIG. 13, the upper limb movement assist mechanism 100 is connected to six servo motors 101, 102, 103, 104, 105, 106, and these servo motors 101, 102, 103, 104, 105, 106. Of the wires 111, 112, 113, 114, 115, 116, etc., and the ends of the threads 111, 112, 113, 114, 115, 116 are connected to the patient. A control device that controls the elbow attachment 117 attached near the elbow, the wrist attachment 118 attached near the patient's wrist with the ends of the yarns 114, 115, 116 connected thereto, and the six servo motors 101-106. (Patent Document 1, page 3, left column, line 11) 121-126 and a switch for sending an operation command to this control device (Patent Document 1, page 3, left column, line 19) Consisting of Metropolitan 31-136. Note that although the control device and the switch are not shown in Patent Document 1, the control devices 121 to 126 and the switches 131 to 136 are clearly shown in FIG. 13 for convenience of explanation.

  The switches 131 to 136 are operated by the patient Q or a doctor or trainer (Patent Document 1, page 3, left column, lines 19 to 20). By operating the switch 131, the length of the yarn 111 is adjusted. Similarly, by operating the switch 132, the lengths of the yarns 112 to 116 are individually adjusted.

  As shown in FIG. 14, when the elbow is placed on a, the wrist is positioned on A. Similarly, when the elbow is placed on b to j, the wrist is located on B to J. In this manner, the hatched area of the wrist becomes the movable range (Patent Document 1, page 3, right column, lines 7 to 8).

  Inferring from the above description, in the upper limb motion assisting mechanism 100, training of the upper limb of the patient A is performed by changing the length of the yarns 111 to 116 by operating the switches 131 to 136.

This complicates the switch operation and increases the burden on the switch operation.
Further, in recent training methods, it is desired that the patient Q applies a force to the upper limbs and applies a deficient force from the outside to raise or lower the upper limbs. In the upper limb movement assisting mechanism 100, even if the patient Q does not apply force to the upper limb, the upper limb moves up and down like a puppet, and it is difficult to obtain training results.

  Therefore, it is required to provide a training apparatus that does not require a switch operation or is simple and that can provide sufficient training results.

JP 7-59821 A

  It is an object of the present invention to provide a training apparatus that does not require a switch operation or is simple and that can provide sufficient training results.

The invention according to claim 1 is an upper limb exercise training apparatus used for training to recover the motor function of a paralyzed upper limb of a patient.
A gantry with a height extending above the patient sitting on the chair, four wire winding mechanisms attached to the top of the gantry so as to be rotatable around the vertical axis at the top of a rectangle in plan view, and these wire winding mechanisms A wire extending from each of the mechanisms, a wire coupler that joins the tips of these four wires, and an upper limb fixture that can be hung on the wire coupler to bind the upper limb,
The wire take-up mechanism includes a rotating shaft that is rotatably attached to a gantry around a vertical axis, a rotation angle measuring means that is connected to the upper end of the rotating shaft and measures a rotation angle of the rotating shaft, and a swing that is suspended from the rotating shaft. A box, a pair of arms extending horizontally from the revolving box, a pulley that is rotatably provided at the tips of these arms via a horizontal shaft, winds a wire, a servo motor that drives the pulley, and a wire A deflection amount amplification mechanism that amplifies the deflection amount of the arm that flexes up and down according to the applied tension, a strain gauge that measures the deflection amount amplified by this deflection amount amplification mechanism, and the tension obtained by this strain gauge is a predetermined value. The servomotor torque is controlled so that the wire is paid out when the wire is larger and the wire is wound when the wire is smaller. The dynamic speed is calculated, characterized in that comprising a controller for controlling the rotational speed of the servo motor based on the moving speed derived.

The invention according to claim 2, between the wire fitting and upper limb fixture, measuring the different sub deflection amount amplification mechanism and the amount of deflection amplification mechanism, the amplified deflection amount in this sub deflection amount amplification mechanism A sub-strain gauge is provided.

  The invention according to claim 3 is characterized in that the servo motor is provided at the base of the arm or the revolving box and is connected to the pulley by a transmission means.

  The invention according to claim 1 has a control unit for controlling the torque of the servo motor so that the wire is fed out when the tension is greater than a predetermined value and wound when the tension is small. As the patient attempts to lower the upper limb, the wire tension increases. When the tension becomes larger than a predetermined value, the torque of the servo motor is controlled to feed out the wire. By extending the wire, the patient assists in the movement to lower the upper limb.

  Similarly, as the patient attempts to raise his upper limb, the wire tension decreases. When the tension becomes smaller than a predetermined value, the servo motor torque is controlled to wind the wire. Winding the wire assists the patient in trying to raise the upper limb.

  According to the upper limb exercise training apparatus according to the present invention, the patient tries to move the upper limb up and down by controlling the torque of the servo motor. That is, there is no need to perform a switch operation for winding or feeding the wire. It can be said that it is a training device that does not require a switch operation or is simple and that can provide sufficient training results.

  In the invention which concerns on Claim 2, the sub deflection amount amplifying mechanism and the sub strain gauge are provided between the wire coupling device and the upper limb fixing device. By taking the tension of the wire at a plurality of locations, the winding and delivery of the wire can be controlled more precisely.

  In the invention according to claim 3, the servo motor is provided at the base of the arm or the swivel box, and is connected to the pulley by the transmission means. Since the servo motor is provided at the base of the arm or the revolving box, the arm is prevented from being bent by the weight of the servo motor. By preventing the arm from bending due to the weight of the servo motor, the load on the arm can be reduced.

It is a perspective view of the upper limbs exercise training device concerning the present invention. It is a perspective view of a wire winding mechanism. It is a figure explaining turning of a wire winding mechanism. It is a disassembled perspective view of a wire winding mechanism. It is a side view of a strain gauge and a deflection amount amplification mechanism. It is operation | movement explanatory drawing of a strain gauge and a bending amount amplification mechanism. It is a perspective view of a wire coupling tool. It is a perspective view of a sub deflection amount amplification mechanism and a sub strain gauge. It is a circuit diagram of the upper limbs exercise training device concerning the present invention. It is operation | movement explanatory drawing of a wire winding mechanism. It is a figure explaining the principle of FIG. It is operation | movement explanatory drawing of the upper limb exercise | movement training apparatus which concerns on this invention. It is a figure explaining the basic principle of the prior art. It is a figure explaining the effect | action of a prior art.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  As shown in FIG. 1, the upper limb exercise training apparatus 10 includes a gantry 12 having a height extending above a patient sitting on a chair 11 and four wire winding mechanisms 14 a and 14 b attached to the upper portion of the gantry 12. , 14c, 14d, wires 15a, 15b, 15c, 15d extending from each of these wire winding mechanisms 14a, 14b, 14c, 14d, and the tips of these four wires 15a, 15b, 15c, 15d The wire coupler 16 includes a strain amount measuring member 17 suspended from a lower portion of the wire coupler 16 and an upper limb fixing device 18 suspended from the strain amount measuring member 17 and capable of binding the patient's upper limb. .

  The gantry 12 includes a base portion 21, support columns 22 and 22 raised from the back side of the base portion 21, and top plate mounting beams 24 and 24 that extend forward from the support columns 22 and 22 and to which a top plate 23 is attached. Four lower legs 25 raised from the base portion 21 up to the top plate mounting beams 24, 24, and upper leg portions 26, 26 extending upward from the top of the top plate mounting beam 24, A rectangular frame-shaped frame body 27 provided on the upper legs 26 and 26 and the support columns 22 and 22, and wire winding mechanisms 14a, 14b, 14c, and 14d extending in the front-rear direction of the frame body 27. The upper beam portions 28 and 28 for supporting the upper and lower beam portions 29 are supported from the upper leg portions 26 and 26 and the lower beam portion 29 spanned between the support columns 22 and 22.

Details of the wire winding mechanisms 14a, 14b, 14c, and 14d supported by the upper beam portions 28 and 28 will be described in the following drawings.
The wire winding mechanisms 14a, 14b, 14c, and 14d are all the same mechanism. For convenience of explanation, the wire winding mechanisms 14a, 14b, 14c, and 14d in the following drawings will be simply referred to as “wire winding mechanism 14” as necessary.

  As shown in FIG. 2, the wire winding mechanism 14 includes a plate member 38 attached to the gantry, a rotary shaft 39 attached to the plate member 38 so as to be rotatable about a vertical axis, a bolt 41 on the upper portion of the plate member 38, An auxiliary plate 42 that is fixed using 41 and extends upward of the rotary shaft 39; a rotary encoder 43 that is attached to the upper portion of the auxiliary plate 38 and that measures the rotation angle of the rotary shaft 39; A revolving box 44 suspended from the rotating shaft 39 and rotated integrally with the rotating shaft 39, a pair of arms 33, 33 extending horizontally from the revolving box 44 and provided in the front and back of the drawing, and these arms 33 , 33 includes a pulley 35 that is rotatably provided at the tip of the wire 33 via a horizontal shaft 34 and winds up a wire (reference numeral 15 in FIG. 1), and a servo motor 36 that drives the pulley 35.

The swivel box 44 includes an upper surface plate 45 attached to the rotary shaft 39 and side plates 46 a and 46 b extending downward from both sides of the upper surface plate 45.
The side plates 46 a and 46 b are fixed to the upper surface plate 45 using bolts 47.
The side plate 46 a has a bearing portion 49 that rotatably supports the shaft 37 of the servo motor 36.
The details of the turning of the wire winding mechanism 14 will be described with reference to the next drawing.

  As shown in FIG. 3, the rotating shaft 39 is rotated around the vertical axis (open arrow (1)). As indicated by the hollow arrow (2), the revolving box 44, the arm 33, the horizontal shaft 34, and the pulley 35 rotate integrally in the same direction as the rotation shaft 39. That is, the rotation shaft 39, the revolving box 44, the arm 33, the horizontal shaft 34, and the pulley 35 rotate integrally around the vertical axis.

As indicated by the white arrow (3), when the horizontal shaft 34 is rotated clockwise, the wire 15 is fed out. Conversely, when the horizontal shaft 34 is rotated counterclockwise, the wire 15 is wound up. On the other hand, when the horizontal shaft 34 rotates, the arm 33, the revolving box 44, and the rotating shaft 39 do not rotate.
Details of the driving means of the horizontal shaft 34 will be described with reference to the next figure.

  As shown in FIG. 4, a timing pulley 51 is provided on the shaft 37 of the servo motor 36 supported by the revolving box 44, and a timing pulley 52 is also provided on the horizontal shaft 34. A timing belt 53 is placed between the timing pulleys 51 and 52.

  When the servo motor 36 is operated and the shaft 37 rotates, the timing pulley 51 rotates. As the timing pulley 51 rotates, the timing belt 53 rotates. As the timing belt 53 rotates, the timing pulley 52 rotates.

The horizontal shaft 34 that supports the timing pulley 52 and the pulley 35 that is supported by the horizontal shaft 34 also rotate integrally.
That is, when the servo motor 36 is operated, the shaft 37, the timing pulley 51, the timing belt 53, the timing pulley 52, the horizontal shaft 34, and the pulley 35 rotate integrally.

The shaft 37 of the servo motor 36 is provided at the same height as the horizontal shaft 34 that supports the pulley 35. By providing the same height, it is possible to prevent the arm 33 from being bent by the weight of the servo motor 36.
Details of the arm 33 will be described with reference to the next figure.

As shown in FIG. 5, the arm 33 includes a tapered portion 55 extending in a tapered shape from the side portion of the revolving box 44 toward the horizontal shaft 34, and a horizontal portion 56 extending in the horizontal direction from the tip of the tapered portion 55. The bearing portion 57 is provided at the tip of the horizontal portion 56 and rotatably supports the horizontal shaft 34, and the vertical portion 58 extends upward from the bearing portion 57.
The upper end of the vertical portion 58 is fixed and supported by an upper end support member 59 that is fixed to the lower portion of the plate material (FIG. 2, reference numeral 38).

  The vertical portion 58 includes a general portion 58a, 58a having a predetermined width, a tapered shape portion 58b, 58b inclined in a direction of narrowing the width from the general portion 58a, 58a, and a width connecting these tapered shape portions 58b, 58b. Narrow width details 58c.

  A width detail 58c is formed, and a weak portion is provided in part. By having a fragile part, when a load is applied to the vertical part 58, the vertical part 58 is easily bent. Such a mechanism for amplifying the deflection amount is referred to as a deflection amount amplification mechanism 62. That is, the deflection amount amplifying mechanism 62 is provided on the vertical portion 58.

Strain gauges 63 and 63 for measuring the amount of deflection are attached to the width detail 58c. That is, the strain gauges 63 and 63 are provided on the deflection amount amplification mechanism 62.
The details of the action of the arm 33 will be described with reference to the next figure.

  As shown in FIG. 6, when the upper limb fixture (FIG. 1, reference numeral 18) is pulled downward, the wire (FIG. 1, reference numeral 15) is also pulled downward. By pulling the wire, tension as indicated by the white arrow is applied to the pulley (FIG. 2, reference numeral 35) that supports the wire and the horizontal shaft 34 that supports the pulley. When the tension is applied, the arm 33 is bent. The amount of bending of the arm 33 increases as the tension increases.

In particular, the deflection amount amplifying mechanism 62 is configured to be easily bent by providing a fragile portion. The strain gauge 63 can detect a finer deflection by amplifying the deflection amount by the deflection amount amplification mechanism 62.
Details of the wire coupler (FIG. 1, reference numeral wire coupler 16) will be described with reference to the following figure.

  As shown in FIG. 7, the wire coupler 16 has a rectangular parallelepiped main body 65 with five holes 66a, 66b, 66c, 66d, and 66e. A hole 66e is arranged at the center of the four holes 66a, 66b, 66c, 66d arranged in a rectangular shape, that is, at a position where the diagonal line of the rectangle intersects.

Wires 15a, 15b, 15c, and 15d are inserted into the holes 66a, 66b, 66c, and 66d, respectively. A wire 67 for connecting to a strain amount measuring member (FIG. 1, reference numeral 17) is inserted into the hole 66e.
Details of the strain amount measuring member will be described with reference to the next drawing.

  As shown in FIG. 8, the strain amount measuring member 17 includes an upper connecting portion 71 to which a wire (FIG. 7, reference numeral 67) is connected, and an upper beam portion that is provided below the upper connecting portion 71 and extends in the horizontal direction. 72, a column part 73 extending downward from the upper beam part 72, and two strain amount measuring parts 74 and 74 extending downward from the upper beam part 72 so as to sandwich the column part 73, In order to connect to the upper limb fixture (FIG. 1, reference numeral 18) from the lower beam part 75 connected to the lower ends of these strain amount measuring parts 74, 74 and extending parallel to the upper beam part 72, and the lower part of the lower beam part 75. The lower connection portion 76 of the second embodiment.

The distortion amount measuring units 74 and 74 are provided with tapered portions 74 a and 74 a and width details 74 b and 74 b, respectively, and constitute a sub deflection amount amplification mechanism 78. The operation of the sub deflection amount amplifying mechanism 78 is the same as that of the deflection amount amplifying mechanism (reference numeral 62 in FIG. 6), and a detailed description thereof is omitted.
Sub strain gauges 79 and 79 are attached to the sub deflection amount amplifying mechanism 78.

By providing the sub strain gauge 79, it is possible to increase the tension of the wire at a plurality of locations. By taking the tension of the wire at a plurality of locations, the winding and delivery of the wire can be controlled more precisely.
The details of winding and delivering the wire will be described with reference to the following figure.

  As shown in FIG. 9, the strain gauge 63a and the rotary encoder 43a provided in the wire winding mechanism 14a are connected to a control unit 80 for operating the servo motor 36a. The sub strain gauge 79 is also connected to the control unit 80.

The strain gauge 63a and the sub strain gauge 79 transmit the measured deflection amount to the control unit 80. The controller 80 calculates the tension applied to the wire 15a from the amount of bending. If the calculated tension is greater than the predetermined value, the torque of the servo motor 36a is controlled so that the wire 15a is fed out via the motor driver 81.
When the calculated tension is smaller than a predetermined value, the torque of the servo motor 36a is controlled to wind the wire 15a via the motor driver 81.

  The rotary encoder 43a detects the rotation of the pulley 35a in the horizontal direction and transmits the rotation amount to the control unit 80. The controller 80 detects the direction of the pulley 35a from the amount of rotation of the pulley 35a, calculates the moving speed of the wire coupler 16 based on the time change of the direction of the pulley 35a, and based on the obtained moving speed, the servo motor The rotational speed of 36a is controlled.

The same applies to the wire winding mechanisms 14b, 14c, and 14d, and a detailed description thereof is omitted.
Details of the movement of the wire coupler 16 will be described in the following figures.

As shown in FIG. 10, the center of the wire winding mechanism 14 arranged in a rectangular shape in plan view is O, the axis extending from the center O toward the wire winding mechanism 14c is the positive direction of the x axis, and the center O The axis extending from 14 to the wire winding mechanism 14d is defined as the positive direction of the y-axis.
The wire coupler 16 is positioned on the center O before the patient moves the upper limb anchor (FIG. 1, reference numeral 18) and the wire coupler 16 in the horizontal direction.

  The turning of the pulley 35 in the counterclockwise direction is the turning in the positive direction, and the case where the pulley 35 faces the direction of the center O is set to 0 °. When the wire winding mechanism 14a rotates α ° in the counterclockwise direction, this is defined as αa.

  In a plan view, the distance from each rotary encoder 43 to the center O is L, and the distance from the rotary encoder 43 to the wire coupler 16 is r. The distance from the rotary encoder 43a to the wire coupler 16 is denoted by ra. The distance ra to the wire coupler 16 can be calculated from the wire feed amount of the wire winding mechanism 14 a and the height of the wire coupler 16.

  Since the pulley 35 is provided so as to be able to turn, the upper limb fixture can freely move in the horizontal direction. By freely moving the upper limb in the horizontal direction, training based on the patient's intention can be performed.

  As shown in FIG. 11, it is assumed that the wire coupler 16 has moved from the center O to coordinates (x, y). At this time, the coordinates (x, y) can be obtained as shown in the following equation.

When the coordinate z of the height is also matched, the coordinates of the wire coupler 16 can be specified as follows.
The length ra of the wire 15a sent out from the wire winding mechanism 14a can be specified from the rotation amount of the servo motor. By specifying the length ra of the wire 15a, the locus on which the wire coupler 16 can move can be specified as a spherical surface.

  Next, the orientation αa of the pulley can be specified by the rotary encoder. By specifying the orientation of the pulley, the trajectory that the wire coupler 16 can move can be specified as a circular line with a radius ra.

  By identifying the circular line with the radius rc, obtained in the same manner as the circular line with the radius ra, and determining the intersection with the circular line with the radius ra, the coordinates (x, y, z) of the wire coupler 16 are obtained. ) Is specified.

  It is assumed that the coordinate P1 of the wire coupler 16 at a certain time t1 is (x1, y1, z1). It is assumed that the coordinate P2 of the wire coupler 16 at t2 after Δt from t1 is (x2, y2, z2). By dividing the moving distance ΔP from P1 to P2 by Δt, the moving speed of the wire coupler 16 can be obtained. Based on the calculated moving speed, the control unit controls the rotation speed of the servo motor.

As shown in FIG. 12A, when the patient 83 fixes the upper limb 84 to the upper limb fixing device 18, a predetermined load is applied to the upper limb fixing device 18. When a predetermined load is applied, the arm (see reference numeral 33 in FIG. 5) bends by a predetermined amount.
At this time, the control unit (FIG. 9, reference numeral 80) does not control the torque of the servo motor (FIG. 9, reference numeral 36).

As shown in (b), the patient 83 tries to lower the upper limb 84. In addition to the weight of the upper limb 84, a load is further applied to the upper limb fixture 18 as indicated by an arrow (5). That is, the tension of the wire 67 increases. When a large tension is applied, the arm (see FIG. 5, reference numeral 33) is greatly bent.
The control unit (FIG. 9, reference numeral 80) controls the torque of the servo motor (FIG. 9, reference numeral 36), and sends out the wire 67 as shown by the arrow (6).

As shown in (c), the patient 83 tries to raise the upper limb 84. A load that is lighter than the weight of the upper limb 84 is applied to the upper limb fixture 18 (see arrow (7)). That is, the tension of the wire 67 is reduced. By reducing the tension, the deflection of the arm (FIG. 5, reference numeral 33) is reduced.
The control unit (FIG. 9, reference numeral 80) controls the torque of the servo motor (FIG. 9, reference numeral 36) and winds the wire 67 as indicated by an arrow (8).

  According to the upper limb exercise training apparatus according to the present invention, the patient 83 assists the exercise of trying to raise and lower the upper limb 84 by controlling the torque of the servo motor 36. That is, there is no need to perform a switch operation for winding or feeding the wire. It can be said that it is a training device that does not require a switch operation or is simple and that can provide sufficient training results.

  Returning to FIG. 2, the strain gauge 63 is provided on a deflection amount amplification mechanism 62 that amplifies the deflection amount. The strain gauge 63 can detect a finer deflection by amplifying the deflection amount by the deflection amount amplification mechanism 62. By detecting a finer bend, the accuracy of winding and feeding of the wire by the servo motor 36 can be increased.

  INDUSTRIAL APPLICABILITY The present invention is suitable for a training apparatus used for function recovery training for hemiplegic upper limbs.

  DESCRIPTION OF SYMBOLS 10 ... Upper limb exercise | movement training apparatus, 11 ... Chair, 12 ... Mount, 14 ... Wire winding mechanism, 15 ... Wire, 16 ... Wire coupling tool, 18 ... Upper limb fixing tool, 33 ... Arm, 34 ... Horizontal axis, 35 ... Pulley , 36 ... servo motor, 39 ... rotating shaft, 43 ... rotary encoder (rotation angle measuring means), 44 ... swivel box, 51 ... timing pulley (transmission means), 52 ... timing pulley (transmission means), 53 ... timing belt ( Transmission means), 62 ... deflection amount amplification mechanism, 63 ... strain gauge, 78 ... sub deflection amount amplification mechanism, 79 ... sub strain gauge, 80 ... control unit, 83 ... patient, 84 ... upper limb.

Claims (3)

In the upper limb exercise training apparatus used for training to restore the motor function of the paralyzed upper limb of the patient,
A gantry with a height extending above the patient sitting on a chair, four wire winding mechanisms attached to the top of the gantry so as to be rotatable around a vertical axis at the top of a rectangle in plan view, and these wire windings A wire extending from each of the take-off mechanisms, a wire coupler that joins the tips of these four wires, and an upper limb fixture that can be hung on the wire coupler to bind the upper limb,
The wire winding mechanism includes a rotating shaft that is rotatably attached to the gantry around a vertical axis, a rotation angle measuring unit that is connected to an upper end of the rotating shaft and measures a rotation angle of the rotating shaft, and a rotating shaft. A revolving box that is suspended, a pair of arms that extend horizontally from the revolving box, a pulley that is rotatably provided at the tip of these arms via a horizontal shaft, and a servo that drives the pulley A bend amount amplifying mechanism for amplifying the bend amount of the arm that bends up and down according to the tension applied to the motor, a strain gauge for measuring the bend amount amplified by the bend amount amplification mechanism, and the strain gauge The torque of the servo motor is controlled so that the wire is unwound when the tension obtained in (1) is greater than a predetermined value, and the wire is wound up when the tension is smaller. Upper limb motion comprising: a control unit that calculates a moving speed of the wire coupler based on a change in the direction of the pulley and that controls a rotating speed of the servo motor based on the obtained moving speed. Training device. Between the upper limb fixture and the wire coupler, and another sub-deflection amount amplification mechanism and the amount of deflection amplification mechanism, a sub strain gauge for measuring the amplified deflection amount in this sub deflection amount amplification mechanism The upper limb exercise training apparatus according to claim 1, wherein the upper limb exercise training apparatus is provided.   The upper limb exercise training apparatus according to claim 1, wherein the servo motor is provided at a base portion of the arm or the revolving box, and is connected to the pulley by a transmission means.

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