JP2006247280A - Upper limb rehabilitation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an upper extremity rehabilitation apparatus allowing a patient to perform a practice for recovering the motor function of the patient's extremity including the wrist, securing further high safety, and transmitting a dynamic sense further close to the actual sense. <P>SOLUTION: The first constitution of this upper extremity rehabilitation apparatus allowing the patient to perform the practice for recovering the motor function of his/her upper extremity is characterized in having at least one driving means transmitting the driving to a movement of at least a single freedom degree out of three freedom degrees of the patient's wrist to transmit the dynamic sense to the patient, and at least one functional fluid clutch adjusting the driving of the driving means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an upper limb rehabilitation apparatus for performing training for restoring the motor function of an upper limb of a patient.

  2. Description of the Related Art Conventionally, there is an exercise training apparatus that can effectively realize the recovery of a function that can be performed in a relaxed state, which is useful for rehabilitation aimed at improving an exercise function, in a relaxed state (see Patent Document 1). ).

  Also proposed is a virtual reality system that presents mechanical sensations to the operator by linking real-time worlds of images created by computers and robots as a medium with wave resistance of electrorheological fluids. (See Patent Document 2).

Japanese Patent No. 3120065 International Publication No. 96/02887 Pamphlet

  However, in recent years, machines and the like that humans handle have been required to ensure higher safety so as not to harm humans due to breakdowns or poor control. In particular, the above-described conventional example is operated by a patient, and higher safety is required.

  In addition, it is required that patients can advance their own training and need the support of therapists as much as possible, but can promote recovery of their motor function. Furthermore, there is a demand for the patient to convey a mechanical sensation closer to the real sensation.

  Stroke patients often have impaired upper limb function, including the wrist. However, in the conventional upper limb rehabilitation device, the posture of the wrist is not restrained by the grip portion. That is, it is required to fully rehabilitate the upper limb including the wrist.

  Therefore, the upper limb rehabilitation apparatus according to the present invention can perform training to restore the motor function of the upper limb including the wrist, ensure higher safety, and transmit a mechanical sensation closer to the real sensation. An object of the present invention is to provide an upper limb rehabilitation device.

  In order to solve the above-mentioned problem, the first configuration of the upper limb rehabilitation device according to the present invention is an upper limb rehabilitation device for performing training to recover the motor function of the patient's upper limb, among the three degrees of freedom of the patient's wrist, Having at least one drive means for transmitting a drive to at least one degree of freedom of operation to convey a mechanical sensation to the patient, and at least one functional fluid clutch for adjusting the drive of the drive means. It is characterized by.

  Moreover, the 2nd structure of the upper limb rehabilitation apparatus which concerns on this invention is an upper limb rehabilitation apparatus for performing the exercise | movement which recovers the motor function of a patient's upper limb, Of at least 1 degree of freedom among 3 degrees of freedom of a patient's wrist. It has at least one functional fluid brake that transmits a mechanical sensation to the patient upon actuation.

  A third configuration of the upper limb rehabilitation apparatus according to the present invention is a grip that is operated by a patient having three free rotation axes or a rotation mechanism in an upper limb rehabilitation apparatus for performing training to recover the motor function of the patient's upper limb. And a rotation drive control mechanism for controlling the rotation drive of the three free rotation shafts or the rotation mechanism.

  Moreover, the 4th structure of the upper limb rehabilitation apparatus which concerns on this invention is an upper limb rehabilitation apparatus of 3rd structure, Comprising: The said 3 free rotating shaft or rotation mechanism of the said grip extends and bends a patient's wrist. It is characterized by being rotatable in a direction, a direction in which the patient's wrist is abducted and inwardly turned, and a direction in which the patient's wrist is turned out and turned.

  Moreover, the 5th structure of the upper limb rehabilitation apparatus which concerns on this invention is an upper limb rehabilitation apparatus in any one of the 1st-4th structure, Comprising: It comprises a wire and drive-controls by pulling this wire, It is characterized by the above-mentioned. And

  A sixth configuration of the upper limb rehabilitation apparatus according to the present invention is an upper limb rehabilitation apparatus having any one of the first to fifth configurations, and includes a rotation shaft with joints attached to both ends, and rotates the rotation shaft. Thus, drive control is performed.

  A seventh configuration of the upper limb rehabilitation device according to the present invention is the upper limb rehabilitation device according to any one of the first to sixth configurations, and is driven with respect to the operation of the patient's elbow and shoulder with three degrees of freedom. It is characterized by having three driving means for transmitting and transmitting a mechanical sensation to the patient, and at least three functional fluid clutches.

  Moreover, the 8th structure of the upper limb rehabilitation apparatus which concerns on this invention is an upper limb rehabilitation apparatus in any one of the 1st-6th structure, Comprising: It drives with respect to the action | operation of a patient's elbow and shoulder 3 degrees of freedom. It is characterized by having three driving means for transmitting and transmitting a mechanical sensation to the patient, and at least three functional fluid brakes.

  A ninth configuration of the upper limb rehabilitation apparatus according to the present invention is an upper limb rehabilitation apparatus having any one of the third to eighth configurations, and a rotation axis whose longitudinal direction is the vertical direction, and the rotation axis. And first and second frames having one end pivotably attached thereto, and a third frame having a longitudinal direction as a longitudinal direction and pivotally attached to the other end of each of the first and second frames. A parallel link and an arm that is provided at the tip, is supported by the third frame, and is movable in the vertical direction by deformation of the parallel link.

  Further, the tenth configuration of the upper limb rehabilitation device according to the present invention is the upper limb rehabilitation device according to any one of the third to ninth configurations, wherein the driving means is configured by the three free rotation axes or a plurality of wires. A rotating mechanism is driven, and the interval between the plurality of wires is narrowed in the free rotating shaft or the rotating part of the rotating mechanism.

  The eleventh configuration of the upper limb rehabilitation device according to the present invention is the upper limb rehabilitation device according to the tenth or eleventh configuration, characterized in that a balancer that balances the weight of the grip is provided.

  According to the 1st-4th, 7th, 8th structure of the upper limb rehabilitation device concerning the present invention, training which recovers the motor function of the upper limb including the wrist can be performed, and higher safety is secured. In addition, it is possible to convey a mechanical sensation closer to the real sensation.

  According to the ninth configuration of the upper limb rehabilitation apparatus according to the present invention, a mechanical sensation close to a real sensation can be presented to the operator.

  According to the fifth and sixth configurations of the upper limb rehabilitation device according to the present invention, accurate drive transmission (improvement of back drive performance) and weight reduction can be achieved, and the safety of the device can be improved.

  According to the tenth configuration of the upper limb rehabilitation apparatus according to the present invention, it is possible to suppress the twist of the wire, to reduce the change in the length of the wire, and to improve the back drive performance.

  According to the eleventh configuration of the upper limb rehabilitation apparatus according to the present invention, the weight balance of the grip can be maintained, and the grip can be prevented from rotating due to its own weight or the like.

[First embodiment]
A first embodiment of an upper limb rehabilitation apparatus according to the present invention will be described with reference to the drawings.

(Configuration of upper limb rehabilitation device)
First, the configuration of the upper limb rehabilitation device according to the present invention will be described. FIG. 1 is a schematic configuration diagram of an upper limb rehabilitation device according to the present invention, FIG. 2 is a configuration diagram of a three-dimensional mechanical sense presentation unit, and FIG. 3 is a block diagram of a three-dimensional mechanical sense presentation unit and a motion detection unit. FIG. 4 is a block diagram of the functional fluid brake.

  As shown in FIG. 1 and FIG. 2, the upper limb rehabilitation apparatus for training to restore the motor function of a patient is a SW selection box 1 that is a program selection means, a three-dimensional mechanical sensation presentation means 2, and a motion detection means. It comprises a sensor 3, a monitor 4 as image display means, a feedback means 5, a computer 6, and an emergency stop means 7.

  The SW box 1 includes a selection button and an input button. When the selection button is pressed, the cursor is moved to select a training program suitable for the patient, and the training program is selected by pressing the input button.

  As shown in FIG. 2, the three-dimensional mechanical sensation presentation unit 2 includes a motor 8, a clutch 9, and a robot arm 10 which are driving units. The three-dimensional mechanical sensation presentation means 2 transmits a three-dimensional mechanical sensation to the patient's upper limb by transmitting the drive from the motor 8 that is driven (rotated) at a substantially constant speed via the clutch 9.

  As shown in FIG. 3, the motor 8, the clutch 9, and the sensor 3 are provided on the X, Y, and Z axes (rotation axes of the robot arm 10), respectively, and the grip 11 can be operated (moved) in three dimensions. The three-dimensional movement of the grip 11 can be detected.

  The motor 8 is three driving means for transmitting a driving force to the patient's elbow and shoulder with three degrees of freedom to transmit a mechanical sense to the patient. The clutch 9 can use at least one functional fluid clutch capable of controlling forward / reverse rotation by one, or at least two functional fluid clutches respectively controlling forward rotation and reverse rotation.

  The rotational speed of the motor 8 is decelerated through a reduction gear, and is set to a substantially constant rotational speed such that the clutch 9 is 20 rpm or less, preferably 10 rpm. When the rotation speed of the rotation transmitted from the clutch 9 to the rotation axis of the robot arm 10 is 20 rpm, the movement speed of the grip 11 described later is 1 m / s. Similarly, when the rotational speed of rotation transmitted from the clutch 9 to the rotational axis of the robot arm 10 is 10 rpm, the moving speed of the grip 11 is 0.5 m / s, which is equivalent to the speed of a person's upper limb.

  As the motor 8, various motors such as a DC motor, an induction motor, an ultrasonic motor, and a pulse motor can be used. In a DC motor, by applying a constant voltage, the rotation speed fluctuates in the vicinity where the counter electromotive force and the applied voltage are balanced, but the rotation speed can be made substantially constant. In the dielectric motor, by applying an alternating current with a constant frequency, the rotational speed varies within the range of the sliding speed, but the rotational speed can be made substantially constant. In the ultrasonic motor, by providing a constant signal, the rotation speed can be made substantially constant. In a pulse motor, a substantially constant rotational speed can be achieved by applying pulses with a constant period.

  Since these motors are less expensive than servo motors and do not require sensors and controllers, the manufacturing cost of the upper limb rehabilitation device can be reduced by using such motors.

  In addition, there is a method of controlling the speed almost constant by using a DC servo motor, an AC servo motor or the like as the motor 8 and feeding back sensor information of a rotary encoder, resolver, tachometer generator or the like. In this case, there is an advantage that fluctuations in speed are generally smaller than in the case of using the DC motor, induction motor, ultrasonic motor, pulse motor or the like. On the other hand, there are also disadvantages in that the motor is expensive, requires a sensor and a controller, and there is a possibility that the motor or the runaway may occur due to a failure of the sensor or the controller or disconnection of wiring. However, the control of the DC servo motor, the AC servo motor, and the like is control that makes the rotation speed substantially constant, and the possibility of motor runaway is low, and high safety can be ensured.

  The clutch 9 is an electrorheological (ER) fluid clutch injected with an electrorheological fluid 106. The electrorheological fluid clutch has a configuration in which a cylindrical electrode 123 (123a, 123b) is inserted into a deep groove 126 (126a, 126b) formed in the flange 127 (127a, 127b), and the electrorheological fluid 106 is injected into the gap. ing. The clutch 9 changes the resistance of the electrorheological fluid 106 by changing the voltage applied to the electrorheological fluid 106 by the cylindrical electrode 123, and changes the output torque of the motor 8 for transmission.

  The clutch 9 is not limited to an electrorheological fluid clutch, but is a magnetic viscosity (MR) fluid clutch, a magnetic fluid clutch, a powder clutch, an ER gel clutch that uses ER gel instead of ER fluid, and the like. It may be a fluid clutch. The clutch 9 is not limited to a cylindrical type, and may be a disc type or a multiple disc type.

  Here, the functional fluid is a fluid whose viscoelastic properties are changed by an external stimulus such as an electric field, a magnetic field, light, and a shearing force. An ER fluid (electro-rheological fluid) is a fluid whose rheological properties can be changed by an electric field and viscoelasticity is greatly changed. An MR fluid (magneto-rheological fluid) is a fluid whose rheological properties can be changed by a magnetic field and viscoelasticity is greatly changed. The functional fluid clutch is a clutch that controls the transmission force by changing the viscoelastic characteristics of the ER fluid or MR fluid by an external stimulus.

  For example, when the upper and lower flanges 127 a and 127 b are rotated at the same speed by the motor 8, the upper and lower cylindrical electrodes 123 a and 123 b generate torques of the same magnitude in opposite directions, and the rotation axis of the robot arm 10 is rotated. No rotation force is transmitted to.

  Next, when a voltage is applied only to the upper cylindrical electrode 123a, the viscosity of the electrorheological fluid 106 injected into the upper deep groove 126a increases, and the rotational force of the upper cylindrical electrode 123a becomes weaker. The rotation axis of the robot arm 10 rotates with a rotational force proportional to the difference in viscosity resistance between the upper and lower electrorheological fluids 106. Conversely, when a voltage is applied only to the lower cylindrical electrode 123b, the rotation axis of the robot arm 10 rotates in the reverse direction.

  In this way, by controlling the voltage applied to the upper and lower cylindrical electrodes 123, the rotational direction and rotational force of the rotational axis of the robot arm 10 can be controlled.

  The electrorheological fluid 106 changes its viscosity with good electrical response. For this reason, without using many mechanical parts, a compact, quick response, and a three-dimensional mechanical sensation close to the real sensation can be transmitted to the patient.

  Further, in place of the motor 8 and the clutch 9, a functional fluid brake 29 can be used. The functional fluid brake is a brake that controls the transmission force by changing the viscoelastic characteristics of the ER fluid or MR fluid by an external stimulus.

  As shown in FIG. 4, the brake 29 is an electrorheological (ER) fluid brake injected with an electrorheological fluid 106. The electrorheological fluid brake has a configuration in which a cylindrical electrode 123 is inserted into a deep groove 126 formed in a flange 127 and an electrorheological fluid 106 is injected into the gap. The brake 29 changed the resistance of the electrorheological fluid 106 by changing the voltage applied to the electrorheological fluid 106 by the cylindrical electrode 123, and changed it to the patient's force (input torque) transmitted from the robot arm 10. Adding resistance.

  In other words, the brake 29 is different from a clutch that adjusts the transmission of force from a driving means such as a motor to a human (patient), and adjusts the movement of the robot arm 10 by adjusting the force generated by the human side. Used to present.

  Thereby, it can prevent that the wrist joint rotates too much and an excessive burden is applied to the patient's wrist.

  The brake 29 is not limited to an electrorheological fluid brake, but includes functionality such as a magnetic viscosity (MR) fluid brake, a magnetic fluid brake, a powder brake, and an ER gel brake using ER gel instead of ER fluid. It may be a fluid brake. The brake 29 is not limited to a cylindrical type, and may be a disc type or a multiple disc type.

  For example, when a voltage is applied to the cylindrical electrode 123, the viscosity of the electrorheological fluid 106 injected into the deep groove 126 is increased, and the load on the patient's operation can be increased. Then, by controlling the voltage applied to the cylindrical electrode 123, the rotational force of the rotation shaft of the robot arm 10 can be controlled.

(Robot arm 10)
5 is a perspective view of the robot arm, FIG. 6 is a schematic view of the robot arm as viewed from above, and FIG. 7 is a schematic view of the robot arm as viewed from the back side. For the sake of explanation, the rotating shafts 41 to 43 are omitted. As shown in FIG. 5, the robot arm 10 includes a parallel link 12, an arm 13, a space link (arm 13, rotating shafts 19 and 40, supporting shafts 20 b, 21 b and 40 a, frames 20 to 23), a rotating shaft 41, 42 and 43 are provided. The parallel link 12 forms a parallelogram by attaching a rotation shaft 19 having the longitudinal direction (Z-axis direction) as a longitudinal direction and first to third frames 20, 21, 22 to be rotatable with respect to each other. ing.

  The first and second frames 20 and 21 are formed at one end so as to be rotatable in the vertical direction around the support shafts 20b and 21b attached so as to be orthogonal to the rotation shaft 19. The first and second frames 20 and 21 rotate in the horizontal direction as the rotation shaft 19 rotates. Counter weights 20a and 21a are provided at one ends of the first and second frames 20 and 21, respectively. The counterweights 20a and 21a support the weights of the parallel link 12 and the arm 13 around the support shafts 20b and 21b of the first and second frames 20 and 21, respectively.

  The third frame 22 is rotatably attached to the other ends of the first and second frames 20 and 21 with the vertical direction as the longitudinal direction so as to be parallel to the rotation shaft 19. An arm 13 is fixed to the lower end of the third frame 22. The arm 13 is configured to be movable in the vertical direction (Z-axis direction) around the support shafts 20b and 21b by deformation of the parallel link 12. That is, as the first and second frames 20 and 21 rotate, the third frame 22 moves in the vertical direction (Z-axis direction), so that the arm 13 moves in the same manner as the third frame 22.

  The arm 13 is connected to the frame 23 at one end, and a grip 11 is detachably attached to the other end. As shown in FIG. 6 (a), the frame 23 is connected to the arm 13 at one end via a connecting portion 23a and connected to the support shaft 40a at the other end via a connecting portion 23b. The support shaft 40 a is attached to a rotation shaft 40 provided coaxially with the rotation shaft 19.

  Then, as shown in FIGS. 6B and 6C, the first and second frames 20, 21, through the support shafts 20b, 21b, 40a by the rotation of the rotation shafts 19, 40, respectively. The frame 23 always rotates in parallel and horizontally about the rotation shafts 19 and 40.

  The connecting portion 23a connects the arm 13 so as to be able to swing, and the connecting portion 23b connects the support shaft 40a so as to be able to swing. Thereby, only the rotation shaft 40 is rotated, and the grip 23 at the tip of the arm 13 is moved left and right by moving the frame 23 in parallel with the frames 20 and 21 via the support shaft 40a (FIG. 6B). ), The state of the one-dot chain line and the two-dot chain line in FIG.

  Further, as shown in FIGS. 7A and 7B, the connecting portion 23a connects the arm 13 so as to be capable of rotating the shaft, and the connecting portion 23b connects the support shaft 40a so as to be capable of rotating the shaft. . The first and second frames 20, 21, and 23 are always rotated in parallel around the support shafts 20 b, 21 b, and 40 a to move the frame 22 in the vertical direction, thereby holding the grip 11 via the arm 13. Move up and down.

  In this way, the robot arm 10 is provided with a mechanism for performing a rotational movement in the horizontal plane of the arm 13 movable in the vertical direction by deformation of the parallel link 12 by a three-dimensional spatial link. The three-dimensional space link is formed by the arm 13, the rotation shafts 19 and 40, the support shafts 20b, 21b and 40a, and the frames 20 to 23.

  As a result, compared to the method of moving the arm 13 via a drive transmission mechanism such as a gear or a belt, friction in the drive transmission can be reduced, and the back drive performance of the robot arm 10 can be greatly improved. it can. Here, the back drive property refers to the degree of ease of rotation or ease of movement when the actuator (clutch 9, motor 8) side is rotated or moved in reverse from the load side. Then, by using a functional fluid clutch such as an electrorheological (ER) fluid clutch or a magnetic viscosity (MR) fluid clutch as the clutch 9, the back drive performance of the three-dimensional mechanical sense presentation means 2 can be improved. .

(Rotating shafts 41, 42, 43, universal joint 44)
The rotating shafts 41, 42, and 43 are provided so as to connect the rotating shaft 40 and the frame 22 below the parallel link 12 in the vertical direction. As shown in FIG. 8, the rotation shafts 41, 42, and 43 are rotatable around the axis. A universal joint 44 is provided at one end of each of the rotation shafts 41, 42, 43, and a driving force is transmitted from motors 52, 62, 72 described later. A universal joint 44 is provided at the other end of the rotating shafts 41, 42, and 43, and pulleys 41a, 42a, and 43a are fixed. A driving force transmitted from the motors 52, 62, and 72 will be described later. Transmit to wires 51, 61, 71.

  By using the rotary shafts 41, 42, 43 and the universal joint 44, reliable drive transmission can be performed and the back drive performance of the apparatus can be improved. In place of the universal joint 44, a joint such as a constant velocity joint may be used. By using the constant velocity joint, the angular velocity can be kept constant even if the direction in which the rotational force (driving force) is transmitted is changed.

  As with the motor 8, the motors 52, 62, 72 can use a direct current motor or the like, and can suppress the manufacturing cost of the upper limb rehabilitation device, suppress the speed fluctuation, and ensure high safety.

(Clutch 9, brake 29)
Further, a functional fluid clutch such as the clutch 9 is provided in a drive transmission system that transmits the drive of the motors 52, 62, 72. Further, instead of the motors 52, 62, 72 and the clutch 9, a brake 29 may be provided. Here, the motors 52, 62, and 72 rotate the outer frame 14, the inner frame 15, and the rotating shaft 17 constituting the grip 11 described later to control the rotation of the patient's wrist with three degrees of freedom (see FIG. 10). Drive source

  By using a functional fluid clutch such as an electrorheological (ER) fluid clutch or a magnetic viscosity (MR) fluid clutch as the clutch 9, the back drive performance of the grip 11 can be improved. Further, by using a functional fluid brake as the brake 29, it is possible to adjust the force generated by the human side to adjust the movement of the grip 11 and present a force sense. Thereby, it can prevent that the wrist joint rotates too much and an excessive burden is applied to the patient's wrist. Therefore, even when the grip 11 is operated, a compact and quick response can be transmitted to the patient with a three-dimensional mechanical sensation that is close to the real sensation.

  Further, by using a functional fluid brake as the brake 29, the operation range (wrist rotation range) can be changed according to the patient's condition. Furthermore, since the brake 29 has good responsiveness, it is possible not only to determine a rotation range for each degree of freedom but also to set an operation range by relating a plurality of degrees of freedom.

  Furthermore, since the functional fluid brake has good force responsiveness, it can provide appropriate damping (resistance force proportional to speed), and can improve the safety and operability of the device. Further, since the brake 29 does not positively apply force to the patient unlike a motor or the like, the danger due to malfunction of the apparatus can be avoided by using the brake 29.

  The present invention is not limited to the configuration in which the motor, the clutch 9 and the brake 29 are provided in all of the three degrees of freedom of the patient's wrist (the outer frame 14, the inner frame 15, and the rotating shaft 17). For example, a motor, a clutch 9 and a brake 29 are provided only in one or two degrees of freedom (one or two of the outer frame 14, the inner frame 15, and the rotating shaft 17) of the patient's wrist, The degree of freedom may be free rotation.

  Further, the motor / clutch 9 and the brake 29 may be used in combination. For example, the motor and the clutch 9 may be used for one degree of freedom or two degrees of freedom of the patient's wrist, and the brake 29 may be used for the other degrees of freedom or may be configured to rotate freely.

(Grip 11)
FIG. 9 is a configuration diagram of the grip. As shown in FIG. 9, the grip 11 is a part that is operated by the patient, and includes an outer frame 14, an inner frame 15, a pair of bearings 16, a rotating shaft 17, and a gripping portion 18.

  The grip 30 has at least two drive means (motors 52, 62, 72) for transmitting a drive to the patient's wrist with three degrees of freedom and transmitting a mechanical sensation to the patient. , 72 and at least one functional fluid clutch or brake (not shown) that adjusts the drive of. The driving means (motors 52, 62, 72) drive the three free rotating shafts or rotating mechanisms (the outer frame 14, the inner frame 15, and the rotating shaft 17) of the grip 11.

  As shown in FIG. 10, the three degrees of freedom of the wrist means Yaw rotation, Pitch rotation, and Roll rotation. Yaw rotation is a movement in the direction of arrow Y for extending and bending the wrist shown in FIG. Pitch rotation is a movement in the direction of arrow P that causes the wrist shown in FIG. Roll rotation is a movement in the direction of arrow R that causes the wrist shown in FIG.

  The outer frame 14 is formed in a U-shape (concave shape), and is detachably attached to the tip of the arm 13 so as to be rotatable around the axis of the arm 13 (arrow R direction). The inner frame 15 is formed in a quadrangular shape and is pivotally supported at both ends 14a of the outer frame 14 at two points facing each other across the center point. That is, the inner frame 15 can be pitch-rotated in the direction of the arrow P around the straight line connecting the two opposing points.

  The bearing 16 is fixed so as to face the inner frame 15, and the axial direction of the rotating shaft 17 is orthogonal to the rotating shaft of the inner frame 15. The rotary shaft 17 is pivotally supported by the bearing 16 so that both ends can be rotated in the Y-direction. The grasping portion 18 is fixed to the center of the rotation shaft 17 and on the extension line of the arm 13, and is formed so that the patient can grasp and rotate it 360 °.

  It should be noted that the three rotation axis directions of the three free rotation shafts or rotation mechanisms, ie, the outer frame 14, the inner frame 15, and the rotation shaft 17, intersect at the position of the grip portion 18. Thereby, a mechanical sensation close to a real sensation can be presented to the operator. However, the present invention is not limited to such a positional relationship, and may be arranged such that the three rotation axis directions do not intersect.

  Further, the shapes of the outer frame 14 and the inner frame 15 are not limited to the above shapes, and the outer frame 14 may be U-shaped (semi-circular), and the inner frame 15 is circular. Also good.

(Grip rotation drive control mechanism)
Next, a rotation drive control mechanism that controls the rotation drive of the grip 11 will be described. The rotation drive control mechanism of this embodiment employs a twisting method.

  FIG. 11 is a configuration diagram of the rotation drive control mechanism of the grip 11. As shown in FIG. 11, inside the grip 11 of this embodiment, a wire 51 for rotating the outer frame 14 in the direction of arrow R, a wire 61 for rotating the inner frame 15 in the direction of arrow P, and a rotation shaft 17 for the arrow Y A wire 71 that rotates in the direction is provided.

  One end of the wire 51 is attached to the pulley 41a, and a driving force is transmitted from a motor 52 as a driving means. The other end of the wire 51 is attached to a rotation pulley 53 provided at the end of the outer frame 14. The wire 51 is positioned by a plurality of idlers 54 and wired inside the arm 13. Two wires 51 are provided. When the motor 52 is driven, the rotating shaft 41 is rotated to pull one of the two wires 51. As a result, the outer frame 14 rotates forward and backward in the direction of the arrow R via the rotation pulley 53 (Roll rotation).

  One end of the wire 61 is attached to the pulley 42a, and a driving force is transmitted from a motor 62 as a driving means. The other end of the wire 61 is attached to a rotation pulley 63 provided at the end of the inner frame 15. The wire 61 is positioned by a plurality of idlers 64 and wired inside the arm 13 and the outer frame 14. Two wires 61 are provided, and one of the wires 61 is pulled by driving the motor 62. As a result, the inner frame 15 rotates forward and backward in the direction of the arrow P via the wire 61 and the rotation pulley 63 (Pitch rotation).

  One end of the wire 71 is attached to the pulley 43a, and a driving force is transmitted from a motor 72 which is a driving means. The other end of the wire 71 is attached to a rotating pulley 73 provided at the end of the rotating shaft 17. The wire 71 is positioned by a plurality of idlers 74 and wired inside the arm 13, the outer frame 14, and the inner frame 15. Two wires 71 are provided, and one of them is pulled by driving the motor 62. As a result, the rotation shaft 17 is rotated forward and backward in the direction of arrow Y (Yaw rotation) via the rotation pulley 73.

  As described above, the rotational drive control mechanism is composed of the rotating shaft and the wire, so that accurate drive transmission (improvement of back drive performance) and weight reduction can be achieved, and the safety of the apparatus can be improved. it can.

  Also, the outer frame 14, the inner frame 15, and the rotating portion of the rotating shaft 17 (the connecting portion of the arm 13 and the outer frame 14, the connecting portion of the outer frame 14 and the inner frame 15, the inner frame) which are three free rotating shafts or rotating mechanisms 15 and the rotating shaft 17), the intervals between the plurality of wires 51, 61, 71 are reduced. In particular, as shown in FIG. 12 (a), at the joint between the arm 13 and the outer frame 14, the intervals between the plurality of wires 51, 61, 71 are narrowed.

  Thus, as shown in FIG. 12B, when any of the outer frame 14, the inner frame 15, and the rotating shaft 17 is rotated, the inside of the arm 13, the outer frame 14, and the inner frame 15 is wired. The change in length due to the twisting of the wire is reduced. And durability of a wire can be improved by making the change of the length of a wire small. Moreover, the wire can be thickened, and the rigidity of the apparatus can be increased. Moreover, the back drive property can be improved.

(Sensor 3-Emergency stop means 7)
A rotary encoder is used for the sensor 3 and detects the three-dimensional position and motion of the patient's upper limb (grip 10) by detecting the rotation of each rotation axis and the like. That is, the sensor 3 detects the angle and rotational acceleration of each rotation axis, thereby detecting the three-dimensional position and moving speed of the grip 11 (patient's upper limb).

  The monitor 4 displays an image of the training program and an image based on the position and movement of the patient.

  The feedback means 5 feeds back the training result obtained by performing the training program to the next training program. That is, the feedback means 5 evaluates the degree of recovery of the motor function of the patient from the training result, and selects the next training program according to the degree of recovery of the motor function. The feedback means 5 evaluates and presents the degree of recovery of the motor function of the patient from the training result. As a method of evaluation and presentation, there are a method of displaying the score on the monitor 4 and outputting a sound effect such as applause.

  The computer 6 includes a feedback means 5 and an emergency stop means 7 and is connected to the SW box 1, the three-dimensional mechanical sense presentation means 2, the sensor 3, and the monitor 4 to control the upper limb rehabilitation device. That is, the computer 6 sends a signal indicating the training program selected by the SW box 1 and an image of the selected training program to the monitor 4, and transmits the signal to the electrorheological fluid 106 to convey a three-dimensional mechanical sensation to the patient. The voltage to be applied is changed, and a signal indicating the movement of the patient detected by the sensor 3 is sent to the monitor 4.

  The computer 6 can also control the three-dimensional mechanical sensation presentation means 2 and the monitor 4 so as to convey the mechanical sensation of the virtual lower surface that supports the patient's upper limb depending on the setting of the selected training program. The virtual lower surface can be tilted obliquely, or a lower surface having resistance can be used to load the patient's training.

  The emergency stop means 7 receives information such as abnormal force and speed exceeding the predetermined value from the sensor 3 when a force exceeding a predetermined value is applied to the three-dimensional mechanical sense presentation means 2, and based on the information, the motor The upper limb rehabilitation device is urgently stopped by stopping 8 or cutting off the transmission of force by the clutch 9.

(Training method using upper limb rehabilitation device)
Next, a training method using the upper limb rehabilitation apparatus will be described. FIG. 13 is a flowchart for explaining a training method using the upper limb rehabilitation apparatus, FIG. 14 is an explanatory diagram for setting a training program, and FIG. 15 is an explanatory diagram for a training program for “mural turning”.

  As shown in FIG. 13, first, after preparing a posture in which the patient can perform exercise function recovery training, the upper limb rehabilitation apparatus is turned on (S1). Next, a patient name to be trained is selected from the list in which the patient name is displayed on the monitor 4 using the SW box 1 (S2). In addition, it is good also as a setting which recognizes a patient by the setting which inputs a patient name directly, a barcode, an audio | voice etc. instead of the setting which selects a patient name.

  Next, the training program to be executed is selected using the SW box 1 (S3). As shown in FIG. 14, this training program includes programs such as “turning murals” and “maze”. By changing parameters such as the strength of viscous resistance and wall spacing, the training program can be set (exercise of exercise). (Strength, difficulty) can be changed. For this reason, the training program for each patient can be stored in advance as a setting tailored to the patient.

  The selected training program starts, and the patient performs training according to the program (S4). For example, in the “mural turning” training program, as shown in FIG. 15A, a front wall 24 on which a mural is drawn, and three upper and left walls 25 to 27 surrounding the front wall, The floor surface 28 is displayed on the monitor 4. The patient moves along the front wall 24 while pushing the grip 11 so as to hit the front wall 24. A signal indicating the position of the grip 11 and movement information is sent to the computer 6 from the sensor 3 that has detected the movement of the grip 11, and a mural hidden by a thin veil appears along the track of the grip 11. By clearing the goal of turning a predetermined percentage (for example, 80%) of a single mural and turning a predetermined place (the part on which the picture is drawn), the next turning mural appears, and the patient turns the mural one after another. To go. As training conditions, various training conditions can be set, such as turning over six murals arranged in the depth direction every 5 cm with a time limit of 5 minutes.

  During training, it is determined whether or not there is an abnormal stop (S5). In the case of an abnormal stop, it is determined whether the reason for the stop is torque over (S6). If the torque is over, the monitor 4 displays torque over (S7) and selects whether or not to complete all programs (S18). If the torque is not over, it is determined whether or not the stop reason is an emergency stop (S8). If it is an emergency stop, an emergency stop display is displayed on the monitor 4 (S9), a buzzer is sounded to inform the therapist of the abnormality (S10), and the training is terminated (S19). If it is not an emergency stop, it is determined that the system is abnormal, the system abnormality is displayed on the monitor 4 (S11), a buzzer is sounded to notify the therapist of the abnormality (S12), and the training is terminated (S19).

  If there is no abnormal stop, it is selected whether or not to stop the training (S13). When the training is stopped, the training 4 is displayed on the monitor 4 (S14), and it is selected whether or not all the programs are completed (S18).

  If the training is not stopped, it is determined whether or not the time is over (S15). If the movement of the grip 11 is not detected for a predetermined time, it is determined that the time is over, the time over is displayed on the monitor 4 (S16), and whether or not all the programs are completed is selected (S18).

  If it is determined that the time is not over, it is determined whether or not the training program has ended normally (S17). If not completed normally, the process returns to S4 and the above sequence is repeated (S4 to S17).

  When the training program is normally completed, it is selected whether or not all the programs are completed (S18). When all programs are completed, the end of training is displayed. At this time, when the operation is completed normally, the training result is displayed, and the degree of recovery of the motor function of the patient is evaluated and presented by the feedback means 5 (S19).

  For example, in the “mural turning” training program, as shown in FIG. 15 (b), the number of murals erased, the time taken to complete the training, and the like are displayed. In addition, by displaying the result of training performed previously, the number of trials, and the like together, it is possible to evaluate and present the degree of recovery of motor function.

  If all the programs are not completed, selection to proceed to the next program is performed (S20), and the next training is started (S21, S4 to S21). At this time, if the previous program is normally completed, the result of the previous training is displayed by the feedback means 5 before the start of the next training, and the degree of recovery of the motor function of the patient is evaluated and presented by the feedback means 5. To do.

  The therapist can change the setting (exercise intensity, difficulty level) of the training program based on the result of the training, and can store the setting of the training program to be performed next time.

  As described above, according to the present invention, it is possible to perform training to restore the motor function of the upper limb including the wrist, to ensure higher safety, and to convey a mechanical sensation closer to the real sensation. be able to.

[Second Embodiment]
Next, a second embodiment of the upper limb rehabilitation apparatus according to the present invention will be described with reference to the drawings. FIG. 16 is a configuration diagram of another grip. About the part which overlaps with said 1st embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 16, the upper limb rehabilitation device of this embodiment uses a grip 30 instead of the grip 11 of the first embodiment. The grip 30 is a part operated by the patient, and includes a first frame 31, a second frame 32, a rotation shaft 33, and a grip part 34.

  The first frame 31 is formed in an L shape, and is supported at one end of the first frame 31 so as to be rotatable about the vertical direction (Z-axis direction) and detachably attached to the tip of the arm 13. The second frame 32 is formed in an L shape, and is supported at the other end of the first frame 31 at one end thereof so as to be rotatable about a rotation axis parallel to the longitudinal direction of the arm 13. The rotation shaft 33 is supported at one end thereof at the other end of the second frame 32 so as to be rotatable around a direction perpendicular to the Z-axis direction and the longitudinal direction of the arm 13. The grip part 34 is fixed to the other end of the rotary shaft 33, and is formed so that the patient can grip and rotate it 360 degrees.

  Thereby, the structure of a grip can be simplified and weight reduction and cost reduction can be achieved. Moreover, the safety of the upper limb rehabilitation device can be enhanced by weight reduction. In addition, the grip 30 is configured by an L-shaped frame without providing a square, U-shaped (concave) frame, so that the large ring does not interfere with the patient's field of view. This makes it easier to see the monitor 4.

  Moreover, the shape of the 1st frame 31 and the 2nd frame 32 is not limited to the said shape, A 1/4 circular arc shape may be sufficient.

(Grip rotation drive control mechanism)
Here, a rotation drive control mechanism for controlling the rotation drive of the grip 30 will be described. As shown in FIGS. 17 and 18, the rotational drive control mechanism of the present embodiment adopts a heavy shaft structure instead of the twisting system of the first embodiment.

  As shown in FIG. 17, the grip 30 includes a wire 81 for rotating the first frame 31 in the direction of arrow Y, wires 91 and 93 for rotating the second frame 32 in the direction of arrow P, and a rotation shaft 33 for the arrow Y. Wires 101, 103, and 105 that are rotated in the direction are provided.

  One end of the wire 81 is attached to the pulley 41a, and a driving force is transmitted from the motor 52 which is a driving means. The other end of the wire 81 is attached to a rotation pulley 53 provided at the end of the first frame 31. The wire 81 is wired inside the arm 13. Two wires 81 are provided. When the motor 52 is driven, the rotating shaft 41 is rotated, and one of the two wires 81 is pulled. As a result, the first frame 31 rotates forward and backward in the arrow Y direction via the rotation pulley 53 (Yaw rotation).

  One end of the wire 91 is attached to the pulley 42a, and a driving force is transmitted from the motor 62 which is a driving means. The other end of the wire 91 is attached to an intermediate pulley 92 a provided at one end of the rotating shaft 92. An intermediate pulley 92 b is provided at the other end of the rotating shaft 92. The rotating shaft 92 is rotatable inside the first frame 31. The rotation shaft 92 is provided across the inside of the arm 13 and the inside of the first frame 31. The intermediate pulley 92 a is inside the arm 13, and the intermediate pulley 92 b is inside the first frame 31.

  The wire 93 is positioned by a plurality of idlers 94 and wired inside the first frame 31. One end of the wire 93 is attached to the intermediate pulley 92b, and the other end is attached to the rotating pulley 63. Two wires 91 and 93 are provided, respectively, and the rotating shaft 42 is rotated by driving a motor 62 as a driving means, and one of the two wires 91 is pulled. As a result, the rotating shaft 92 rotates forward and backward via the intermediate pulley 92a, and the second frame 32 rotates forward and backward in the direction of arrow R via the intermediate pulley 92b, the wire 93, and the rotating pulley 63 (Roll rotation).

  One end of the wire 101 is attached to the pulley 43a, and a driving force is transmitted from a motor 72 which is a driving means. The other end of the wire 101 is attached to an intermediate pulley 102 a provided at one end of the rotating shaft 102. An intermediate pulley 102b is provided at the other end of the rotating shaft 102. The rotating shaft 102 is rotatably provided inside a hollow rotating shaft 92. The rotating shaft 102 is provided across the inside of the arm 13 and the inside of the first frame 31. The intermediate pulley 102 a is inside the arm 13, and the intermediate pulley 102 b is inside the first frame 31.

  The wire 103 is wired inside the first frame 31. One end of the wire 103 is attached to the intermediate pulley 102b, and the other end is attached to the intermediate pulley 104a provided at one end of the rotating shaft 104. An intermediate pulley 104b is provided at the other end of the rotating shaft 104. The rotating shaft 104 is rotatably provided inside the second frame 32. The rotating shaft 104 is provided across the inside of the first frame 31 and the inside of the second frame 32. The intermediate pulley 104 a is inside the first frame 31, and the intermediate pulley 104 b is inside the inner frame 32.

  As shown in FIG. 18, the wire 105 is wired inside the second frame 32. The wire 105 has one end attached to the intermediate pulley 104b and the other end attached to the rotation pulley 33a. Two wires 101, 103, and 105 are provided, and the rotating shaft 41 is rotated by pulling one of the two wires 71 by driving a motor 72 that is driving means. As a result, the rotating shaft 102 is rotated forward and backward via the intermediate pulley 102a, the rotating shaft 104 is rotated forward and backward via the intermediate pulley 102b, the wire 103 and the intermediate pulley 104a, and the rotating shaft is rotated via the wire 105 and the rotating pulley 33a. 33 rotates forward and backward in the direction of arrow P (Pitch rotation).

  Instead of the wire 105, a push-pull or pull-pull type elliptical wire or a torque tube can be used.

(Weight balance mechanism)
Further, the grip 11 of the first embodiment has a double-sided structure, and the weight balance is maintained. However, the grip 30 has a cantilever structure, and the weight balance is lost. Specifically, the weight of the rotating shaft 33 and the grip portion 34 is applied to the tip of the second frame 32. For this reason, the second frame 32 rotates in the arrow R direction. Therefore, as shown in FIG. 19, a balancer 35 for balancing the weight of the grip 30 is provided.

  The balancer 35 includes a belt 36, a pulley 37, and a counterweight 38. The belt 36 is wound around pulleys 37 and 39. A counterweight 38 is fixed to the pulley 37. The pulley 39 is attached to the rotating shaft 40 side of the rotating shaft 42.

  The angle of the second frame 32 and the angle of the counterweight 38 are point-symmetrical angles as shown in FIG. 20A or line-symmetrical angles as shown in FIG. 20B. With such an angle, the counterweight 38 can apply torque in the direction opposite to the direction in which the second frame 32 rotates due to its own weight or the weight of the rotary shafts 33 and 34.

  Thereby, without maintaining the posture of the second frame 32 by the motor 62, the weight balance of the second frame 32 can be maintained and the second frame 32 can be prevented from rotating due to its own weight or the like.

Here, the distance r between the center of gravity of the counterweight 38 and the rotation center of the pulley 37 is reduced, and the weight m of the counterweight 38 is increased. As a result, the moment of inertia mr ² can be reduced while securing the torque mr necessary for achieving balance.

  The grip is not limited to the above-described configuration, and any grip may be used as long as it has three free rotation shafts or rotation mechanisms that are attached to the tip of the arm and intersect at one point.

  Further, the rotational drive control mechanism does not have to be configured by only one of the twisting method and the heavy shaft structure, and may be configured by combining both the twisting method and the heavy shaft structure.

  As an application example of the present invention, the present invention can be applied to an upper limb rehabilitation apparatus for performing training for recovering a patient's motor function.

It is a schematic block diagram of the upper limb rehabilitation apparatus which concerns on 1st embodiment. It is a block diagram of a three-dimensional dynamic sense presentation means. It is a block diagram of a three-dimensional mechanical sense presentation means and a motion detection means. It is a block diagram of a functional fluid brake. It is a perspective view of a robot arm. It is the schematic diagram which looked at the robot arm from the upper side. It is the schematic diagram which looked at the robot arm from the back side. It is a block diagram of a joint and a rotating shaft. It is a block diagram of a grip. It is explanatory drawing of 3 degrees of freedom of a wrist. It is a block diagram of the rotation drive control mechanism of a grip. It is explanatory drawing of the twist prevention mechanism of a wire. It is a flowchart explaining the training method by an upper limb rehabilitation apparatus. It is explanatory drawing of the setting of a training program. It is explanatory drawing of a training program. It is a block diagram of the grip concerning 2nd embodiment. It is a block diagram of the rotational drive control mechanism of the grip concerning 2nd embodiment. It is a block diagram of the rotational drive control mechanism of the grip concerning 2nd embodiment. It is a block diagram of the weight balance mechanism concerning 2nd embodiment. It is a figure which shows the angle of the 2nd frame concerning 2nd embodiment, and the angle of a counterweight.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... SW box, 2 ... Three-dimensional mechanical sense presentation means, 3 ... Sensor, 4 ... Monitor, 5 ... Feedback means, 6 ... Computer, 7 ... Emergency stop means, 8 ... Motor, 9 ... Clutch, 10 ... Robot arm 11 ... grips, 12 ... parallel links, 13 ... arms, 14 ... outer frames, 14a ... both ends, 15 ... inner frames, 16 ... bearings, 17, 19, 26 ... rotating shafts, 18, 34 ... grips, 20 23 ... Frame, 20a, 21a, 38 ... Counter weight, 20b, 21b ... Support shaft, 23a, 23b ... Connecting part, 24, 25, 27 ... Wall, 28 ... Floor surface, 29 ... Brake, 30 ... Grip, 31 ... 1st frame, 32 ... 2nd frame, 33, 40-43, 92, 102, 104 ... Rotating shaft, 33a, 53, 63, 73 ... Rotating pulley, 35 ... Balancer, 36 ... Belt, 37, 39, 41a-43a ... pulley, 40a ... spindle, 44 ... universal joint, 51, 61, 71, 81, 91, 93, 101, 103, 105 ... wire, 52 ... Motor, 54, 64, 74, 94 ... idler, 62, 72 ... motor, 92a, 92b, 102a, 102b, 103a, 103b, 104a, 104b ... intermediate pulley, 106 ... electrorheological fluid, 123 ... cylindrical electrode, 126 ... Deep groove, 127 ... flange

Claims (11)

In the upper limb rehabilitation device for performing training to restore the motor function of the patient's upper limb,
At least one driving means for transmitting a driving force to an operation of at least one degree of freedom among three degrees of freedom of the patient's wrist and transmitting a mechanical sensation to the patient, and at least one for adjusting the driving of the driving means And an upper limb rehabilitation device.
In the upper limb rehabilitation device for performing training to restore the motor function of the patient's upper limb,
An upper limb rehabilitation device comprising at least one functional fluid brake that transmits a mechanical sensation to a patient with respect to actuation of at least one degree of freedom of the patient's wrist.
In the upper limb rehabilitation device for performing training to restore the motor function of the patient's upper limb,
A grip operated by a patient having three free rotation axes or rotation mechanisms;
A rotational drive control mechanism for controlling rotational driving of the three free rotational shafts or the rotational mechanism;
An upper limb rehabilitation device comprising:
The three free rotation axes or rotation mechanisms of the grip can be rotated in the direction of extending and bending the patient's wrist, the direction of rotating and inward rotation of the patient's wrist, and the direction of rotating and rotating the patient's wrist The upper limb rehabilitation apparatus according to claim 3, wherein:
The upper limb rehabilitation device according to any one of claims 1 to 4, wherein the upper limb rehabilitation device includes a wire and is driven and controlled by pulling the wire.
The upper limb rehabilitation device according to any one of claims 1 to 5, further comprising: a rotation shaft having joints attached to both ends, wherein drive control is performed by rotating the rotation shaft.
Characterized in that it has three driving means and at least three functional fluid clutches that transmit driving force to the patient in response to three-degree-of-freedom actuation of the patient's elbows and shoulders. The upper limb rehabilitation device according to any one of claims 1 to 6.
Characterized in that it has three driving means and at least three functional fluid brakes that transmit driving force to the patient in response to three-degree-of-freedom actuation of the patient's elbows and shoulders. The upper limb rehabilitation device according to any one of claims 1 to 6.
A pivot shaft having a longitudinal direction as a longitudinal direction, first and second frames having one end pivotably attached to the pivot shaft, and pivotable to the other ends of the first and second frames. A parallel link consisting of a third frame with the vertical direction attached to
9. The arm according to claim 3, further comprising: an arm provided at the tip, supported by the third frame, and movable in a vertical direction by deformation of the parallel link. The upper limb rehabilitation device described in 1.
The drive means drives the three free rotating shafts or rotating mechanisms with a plurality of wires, and the interval between the plurality of wires is narrowed in the rotating portion of the free rotating shaft or rotating mechanism. The upper limb rehabilitation device according to any one of claims 3 to 9.
  The upper limb rehabilitation device according to claim 10 or 11, further comprising a balancer that balances the weight of the grip.

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