JP2015100477A - Rehabilitation support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rehabilitation support device that a patient having disabled legs can use for rehabilitation.SOLUTION: A rehabilitation support device includes a force plate 2 on which a subject can stand, a load detection sensor 3 for detecting a load on the force plate 2, and gravity center position detection means 5 for detecting the gravity center position of the subject from the load on the load detection sensor 3, and is provided with drive means 6 for moving the force plate 2 in a horizontal direction following the movement of the gravity center position of the subject. When the force plate 2 is moved in this way, the force plate 2 is moved in a direction of gravity center movement when a subject suffering from shivers in legs is subjected to rehabilitation, for example. Also, when a subject who can hardly put a foot forward is subjected to rehabilitation, the force plate 2 is moved in a direction opposite to the direction of gravity center movement.

Description

  The present invention relates to a rehabilitation support device that can be used by a patient with reduced mobility for rehabilitation.

  Conventionally, as an apparatus that can be used for rehabilitation by a patient having a walking disorder, an apparatus that can detect the center of gravity of a standing patient has been proposed (see Patent Documents 1 and 2). Such a device includes, for example, a plate on which a foot can be placed, and a load detection sensor that detects a load applied to the foot placed on the plate. The center of gravity position of the trunk can be detected. By using such a device, it becomes possible to detect the position of the center of gravity of the patient performing rehabilitation and determine whether or not the standing position can be maintained in the same manner as a healthy person.

JP 2005-253819 A JP 2013-31538 A

  However, using such a device, for example, when considering rehabilitation of patients who have tremors in their legs or who cannot easily step their legs one step forward, the following problems may occur: is there.

  In other words, patients with trembling legs usually move their muscles to reflexively move the center of gravity backward when the center of gravity moves forward for some reason. Due to the work, this time the muscles react to reflexively move the center of gravity forward, resulting in trembling of the legs. However, when considering rehabilitation of a patient who has trembling on the leg in this way, even if the movement of the center of gravity is detected by the device as described above, it only detects the movement of the center of gravity due to the trembling of the leg. It does not lead to fundamental rehabilitation.

  In addition, patients who cannot easily step their legs one step forward, when the center of gravity moves forward, the muscles react to return the center of gravity reflectively to the original position. If the muscles react to return to the original position, the legs cannot be moved forward one step. When such a patient is rehabilitated, even if the apparatus as described above is used, only the movement of the center of gravity is detected, and it does not help to step the leg forward.

  In addition, as shown in the above-mentioned Patent Document 1, there is also proposed an apparatus that can detect the posture balance by suddenly moving the force plate, but if the force plate is suddenly moved in this manner, If the patient has a trembling motion, the patient's tremor will be further encouraged, and the patient will not be able to step out the leg one step further. For this reason, such a device that suddenly moves the force plate cannot be used for rehabilitation at all.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a rehabilitation support apparatus that can be used as a rehabilitation by a patient with reduced mobility.

  That is, in order to solve the above-described problem, the present invention provides a force plate on which the subject can stand, a load detection sensor that detects a load applied to the force plate, and a gravity center position of the subject from the load applied to the load detection sensor. And a drive means for moving the force plate in the horizontal direction as the subject's center of gravity moves.

  In this way, the reaction of the leg muscles due to the movement of the center of gravity of the subject can be relaxed or assisted by the movement of the force plate.

  As one embodiment of such an invention, the force plate is moved in the moving direction of the subject's center of gravity.

  In this way, when a patient with trembling legs moves the center of gravity forward, the force plate moves forward, so that the center of gravity of the load can be returned to the position of the trunk center, and the center of gravity moves backward. It is possible to suppress the reflex muscle reaction of the patient to be let go.

  As another embodiment, the force plate is moved in the direction opposite to the moving direction of the center of gravity of the subject.

  In this way, if the patient is unable to step forward one step forward, the force plate will move backward as the center of gravity moves forward, so the center of gravity must be moved further forward. Accordingly, it is possible to assist a reflexive movement for moving the leg forward one step.

  According to the present invention, a force plate on which a subject can stand, a load detection sensor that detects a load applied to the force plate, and a centroid position detection unit that detects a centroid position of the subject from the load applied to the load detection sensor. With the drive means for moving the force plate in the horizontal direction as the subject's center of gravity moves, the leg muscle reaction due to the subject's center of gravity movement can be mitigated by the movement of the force plate, or , You will be able to help.

1 is an external perspective view of a rehabilitation support apparatus showing an embodiment of the present invention. The figure which shows the position of the force plate and load detection sensor in the same form Schematic cross section of rehabilitation support device in the same form Functional block diagram in the same form Flow chart in the same form Flow chart in the same form

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  The rehabilitation support apparatus 1 according to this embodiment can be used for rehabilitation by patients with trembling legs or patients whose legs cannot be stepped forward one by one. FIG. 1 to FIG. Thus, from the force plate 2 on which the subject who is a patient can stand, the load detection sensor 3 (see FIG. 2) that can measure the load of the subject standing on the force plate 2, and the load detection sensor 3 And a center-of-gravity position detecting means 5 for measuring the center of gravity of the subject based on the output value. And characteristically, it is provided with a driving means 6 for moving the force plate 2 in the horizontal direction, and when the subject's center of gravity moves, the force plate 2 moves at a constant distance and speed in the moving direction or in the opposite direction. It is made to let you. Hereinafter, the structure of the rehabilitation assistance apparatus 1 in this Embodiment is demonstrated in detail.

  First, as shown in FIG. 3, the force plate 2 is composed of a single rectangular metal plate material that allows a subject to stand, and is an upper side of a box-shaped housing 20. Is slidably supported. Below the force plate 2, a load detection sensor 3, a base plate 4, a drive mechanism 6a, and the like are provided.

  As shown in FIG. 2, the load detection sensor 3 that detects the load of the subject standing on the force plate 2 detects the load of the subject on the vertical axis (z-axis). It is composed of a load cell provided. The load detection sensor 3 is attached to the upper surface of the base plate 4 provided below, and the upper end portion thereof is fixed to the vicinity of the four corners of the force plate 2, and the load of the subject is measured by the four load detection sensors 3. Is detected. Here, the load detection sensor 3 is described by taking load cells provided at four corners as an example. However, any sensor that can measure a load may be used. A sensor using a film, a sensor using a compression element, a displacement sensor, or the like may be used.

  On the other hand, below the base plate 4 that supports the load detection sensor 3, a drive mechanism 6a that constitutes a part of the drive means 6 for moving the force plate 2 is provided. The drive mechanism 6a is configured to move the force plate 2 in the front-rear direction. The drive mechanism 6a is a mechanism provided with a worm gear, a mechanism provided with a rack and pinion, and the like for converting rotational motion into linear motion. A mechanism or the like is used. At this time, it is preferable to use a mechanism that can slide the force plate 2 accurately and quickly even when a large weight is applied by the subject. Here, as shown in FIGS. 1 and 3, a mechanism in which a worm gear 61 is provided in the front-rear direction is used, and a nut member 62 that is screwed to the worm gear 61 is welded to the lower surface of the base plate 4. The base plate 4 is slid by rotating a motor 63 provided in the section. At this time, the worm gear 61 is provided in the vicinity of the center position of the force plate 2, so that no moment is generated between the drive portion and the position of the center of gravity when the force plate 2 slides. Such a drive mechanism 6a is driven and controlled by drive means 6 which is a control unit stored in a computer.

  The center-of-gravity position detection means 5 detects the position of the center of gravity of the subject from the load of the subject on the force plate 2. When detecting the position of the center of gravity, the output value of the right front load detection sensor 3 is PFR, the output value of the left front load detection sensor 3 is PFL, the output value of the right rear load detection sensor 3 is PBR, and the left rear When the output value of the load detection sensor 3 is PRL, the center-of-gravity position (Gx, Gy) is calculated by the following equation from the moment balance equation.

<Formula 1>
Gx = (PFR + PBR) × Lx / (PFR + PFL + PBR + PBL)
Gy = (PFR + PFL) × Ly / (PFR + PFL + PBR + PBL)

  Here, (Gx, Gy) represents coordinates in the x and y axis directions with the position of the load detection sensor 3 on the left rear side of the force plate 2 as the origin. Lx represents the length of the force plate 2 in the x-axis direction, and Ly represents the length of the force plate 2 in the y-axis direction.

  In order to detect these center-of-gravity positions so that the subject's center-of-gravity movement that vibrates in small increments can be detected, the sampling time is set so that it can be detected within the range of 10 to 30 msec.

  With reference to the flowchart of FIG. 5, an operation example in the case where a patient having a trembling leg is used for rehabilitation under such a configuration will be described.

  First, prior to use, the output value of each load detection sensor 3 is set to zero in a state where it is not placed on the force plate 2, and in that state, the subject is placed on the force plate 2, and the four load detection sensors 3. Measure the subject's total load from the sum of This measured total load is the value of the denominator of Equation 1 above. In addition, as an initial setting, a distance and a speed for sliding the force plate 2 are set. This “distance” is set as d × a (a = ratio coefficient) as the moving distance of the force plate 2 with respect to the center-of-gravity moving distance d, and “speed” is set as the speed of the force plate 2 with respect to the center-of-gravity moving speed v. As the moving speed, v × b (b = ratio coefficient) is set. These ratio coefficients (a, b) are preferably set to be “1” or less.

  Thus, after the initial setting is completed, the subject's rehabilitation is started. When a signal for starting rehabilitation is input, the load detection sensor 3 detects the load of the subject (step S1), calculates the center of gravity of the load from the output value (step S2), and calculates the displacement distance and speed. . This displacement distance is calculated by calculating the position of the center of gravity at each sampling time, calculating the distance in the front-rear direction from the difference between the center of gravity position of the previous sampling time and the current sampling time, and calculating the speed The displacement distance is calculated as a value divided by the sampling time. Then, the previously calculated ratio coefficients (a, b) are added to the calculated (distance, speed) = (Δd, Δv), and the distance “Δd × a” is set to “Δv × b”. The motor 63 is rotated so as to move the force plate 2 at a speed of "".

  At this time, for example, if the subject's center of gravity moves forward (step S4: forward), the subject tries to work muscles that reflexively return the center of gravity to the original position as the center of gravity moves. At this time, since the force plate 2 moves forward (step S5), the reflex muscle movement can be suppressed. Conversely, when the subject's center of gravity moves backward (step S4: rearward), the force plate 2 moves backward as the center of gravity moves (step S6). It is possible to suppress the movement of the muscles that try to return to the front. Thereby, it is possible to prevent the trembling of the legs based on the sensitive reflection. At this time, since the distance and speed for moving the force plate 2 are set by the ratio coefficient (a, b), the movement of the force plate 2 can be set according to the degree of muscle reflection, Rehabilitation can be performed according to the degree of symptoms.

  Next, a case where a subject who cannot easily step forward with his / her leg is rehabilitated will be described with reference to the flowchart of FIG. Similarly, in this rehabilitation, the subject is asked to stand on the force plate 2 to measure the total load and to set the moving distance of the force plate 2, the rate coefficient (a, b), etc. And

  When such a subject is rehabilitated, when the subject stands on the force plate 2, each load detection sensor 3 detects the subject's load (step T <b> 1), and the center of gravity position is calculated from the output values of the four load detection sensors 3. At the same time (step T2), the displacement of the barycentric position and the velocity are calculated from the sampling time (step T3). When the center of gravity of the subject moves forward (step T4: forward), the force plate 2 is moved backward by the driving means 6 as the center of gravity moves (step T7). Then, since the force plate 2 is forcibly moved backward, the subject is reflexive to prevent the fall from the function of the muscles that are intended to return the center of gravity to the original trunk center position by reflection. You can move your muscles and move your legs one step ahead. Conversely, when the center of gravity of the subject has moved backward (step T4: backward), the force plate 2 is moved forward with the movement of the center of gravity (step T6). Then, the subject forcibly moves the force plate 2 forward, so that in order to prevent the fall from the function of the muscles that naturally attempt to return the center of gravity position to the original trunk center position reflexively. The muscles can be reflexively moved, and it is possible to provide assistance for moving the legs backward one step.

  When the force plate 2 is moved in the direction opposite to the direction of movement of the center of gravity as described above, if the values (a, b) at the initial setting are set as negative values, the force plate 2 is reversed. It can be moved in the direction.

  As described above, according to the embodiment, the force plate 2 on which the subject can stand, the load detection sensor 3 that detects the load applied to the force plate 2, and the center of gravity of the subject from the load applied to the load detection sensor 3 And a driving means 6 for moving the force plate 2 in the horizontal direction as the subject's center of gravity moves, so that the muscles of the leg muscles due to the movement of the subject's center of gravity are provided. The reaction can be relaxed or assisted by the movement of the force plate 2.

  In addition, when the force plate 2 is moved in the direction of movement of the subject's center of gravity, when the subject moves the center of gravity forward, the force plate 2 moves forward, so that the load center of gravity is returned to the center of the trunk. The patient's reflexive reaction to move the center of gravity backward can be suppressed.

  Further, if the force plate 2 is moved in the direction opposite to the direction of movement of the subject's center of gravity, the force plate 2 is moved along with the forward movement of the center of gravity when used by a patient whose leg cannot be easily stepped forward. Since the center of gravity moves rearward, the center of gravity can be forcibly moved further forward, and accordingly, a reflexive movement for moving the leg forward one step can be assisted.

  In addition, this invention is not limited to the said embodiment, It can implement in a various aspect.

  For example, in the above embodiment, the force plate 2 is moved only in the front-rear direction. However, the force plate 2 may be moved in the front-rear, left-right direction in the two-dimensional plane along the direction of the center of gravity. At this time, it is preferable to provide two orthogonal worm gears 61 as the driving means 6 and rotate the worm gears 61 to move the force plate 2 in the x-axis direction and the y-axis direction. However, in this case, if the distance and speed of the center of gravity movement are calculated as the distance in the oblique direction, it becomes difficult to correspond to the distance and speed in the oblique direction by the rotation of the orthogonal worm gear 61. It is preferable to calculate the distance and speed in the axial direction and the y-axis direction and rotate the worm gear 61 so as to correspond to the components in the axial direction.

  In the above embodiment, the distance and speed are calculated and the force plate 2 is slid. However, the distance and acceleration are calculated and the force plate 2 is moved at an acceleration corresponding to the acceleration. Also good. When calculating such acceleration, the acceleration may be calculated by dividing the difference between the calculated speeds before and after by the sampling time.

  Furthermore, in the above embodiment, the force plate 2 is moved along with the movement of the center of gravity. However, the history of the movement of the center of gravity and the movement of the force plate 2 is stored in the computer, and how much force is applied afterwards. If the plate 2 is moved, it may be possible to determine in which range the movement of the center of gravity falls. In this way, the effect of rehabilitation can be confirmed afterwards, and thereafter, the ratio of the moving distance of the force plate 2 and the ratio of the speed can be reset.

DESCRIPTION OF SYMBOLS 1 ... Rehabilitation assistance apparatus 2 ... Force plate 20 ... Housing 3 ... Load detection sensor 4 ... Base plate 5 ... Center-of-gravity position detection means 6 ... Drive means 61 ... Worm gear 62 ... Nut member 63 ... Motor

Claims (3)

A force plate on which the subject can stand,
A load detection sensor for detecting a load applied to the force plate;
A center-of-gravity position detection means for detecting the position of the center of gravity of the subject from the load applied to the load detection sensor,
A rehabilitation support apparatus comprising driving means for moving a force plate in a horizontal direction as the subject's center of gravity moves. The rehabilitation support apparatus according to claim 1, wherein the driving unit is configured to move the force plate in a moving direction of the center of gravity of the subject. The rehabilitation support apparatus according to claim 1, wherein the driving means moves the force plate in a direction opposite to the moving direction of the center of gravity of the subject.

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