JPH10230004A - Training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable limb exercising in accordance with individual difference in muscular strength by providing a training device with a constant correcting part for deciding an impedance constant in the control of the device in accordance with a specified formula and controlling the operation of the device by means of the constant. SOLUTION: When the impedance constant Z is formed in an impedance constant correcting part, the min. value and max. values of the impedance constant are respectively adopted as Zs and Zm. When the value of action potential being the final target of training is adopted as Vm, the impedance constant Z is decided by the formula as against action potential Vk which is measured by a mioelectric device. Thus, the impedance constant corresponding to a mioelectricity Vk is set till the target mioelectricity Vm is obtained so that the impedance constant of a device mobile part is changed in accordance with the mioelectricity of a training object person so as to enable muscular strength reinforcing training corresponding to individual difference.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a training device for moving a limb, and more particularly to a medical device, a medical rehabilitation device, and a sports training device for measuring myoelectric (action potential) during limb movement and performing more advanced training. The present invention relates to a training device for the purpose of the operation of.

[0002]

2. Description of the Related Art Conventionally, there are various types of training devices corresponding to each joint of a body for the purpose of moving a limb. Many of these devices move the limb by means of a device having one degree of freedom of translation or rotation (for example, Japanese Patent Application Laid-Open No. Sho 60-232158 "Medical Device", Japanese Patent Publication No. 4-14).
No. 028, "Device for moving human joints", JP-A-61-17
0464 “Passive exercise training device”, JP-A-60-179
No. 062 "Wrist joint function recovery training device").

The main functions of these devices are a function of temporarily stopping the device when the joint to be trained is overloaded, a function of estimating the angle and load of the joint to be trained, a function of setting the range of the flexion / extension movement, a function of operating speed and the like. It has an operation time setting function and a safety stop function. Further, there are the following devices for the purpose of measuring and training muscle strength.・ CYBEX 6000 Cybex ・ Muscle strength measurement device Mastran MST-2000 Cybex ・ BTE Dynatrac Japan Medix ・ Muscle function training measurement device KIN-COM 500H Chatics Inc. The limbs move. The main functions of the device include, in addition to the above-mentioned functions, a function for setting a training load (resistance) of the movable portion of the device, a function for setting training conditions (joint range of motion training, automatic assistance training, muscle strength evaluation training, etc.), training Function of muscle strength and range of motion (biofeedback), average muscle strength and maximum muscle strength, joint angle at that time, and weight bearing index (index representing the quadriceps muscle strength per weight) There are various types such as display functions.

On the other hand, there is a device for proportionally controlling the opening and closing of an electric prosthesis based on information on myoelectricity. For example:-Viennatone Hand Austrian Viennatone-Fidelity Hand USA VA-NU Fidelity.

[0005] In these devices, the electromyograms obtained from a pair of antagonistic muscles (flexors and extensors) in the remaining portion of the cut end are amplified and rectified and smoothed. These signals are subtracted from each other by a differential amplifier, and are used as control signals for a DC motor for driving a prosthetic hand to hold an object. According to this method, if the prosthesis is closed when the myoelectricity from the flexor muscles is large, the prosthesis can be operated with a "feeling before cutting".

Japanese Patent Application Laid-Open No. 57-177736 analyzes a subtle training operation in a function recovery training for a disabled person by a therapist and a corresponding reaction reaction of a patient as a correlation, and analyzes the operation process of the recovery training. Based on the information, a recovery training for a disabled person is performed by a simulator instead of a therapist.

[0007]

However, the conventional training apparatus for moving a limb has not only a function relating to the movement and muscular strength of the limb, but also does not have a function considering the myoelectricity of the limb to be trained. In addition, as in the above-described prosthetic hand, there is a device that controls the operation of the device using information on myoelectricity,
These are not intended for treatment or training for operating muscle strength or joints of limbs based on electromyogram information. JP-A-57-
Although 177736 trains on the basis of myoelectric information, it does not change the impedance constant of impedance control according to the purpose of training, and therefore cannot cope with individual differences in muscular strength.

An object of the present invention is to deal with individual differences in muscle strength,
An object of the present invention is to provide a training device capable of performing advanced limb movement.

[0009]

In order to achieve the above object, a training apparatus of the present invention comprises a training device for moving a limb, and a plurality of electrodes attached to skin on muscles involved in the movement of the limb. , A myoelectric measurement device that measures the action potential of the skeletal muscle of each part of the limb from the output of the electrode, and the minimum value and the maximum value of the preset impedance constant in the impedance control of the training device are Zs and Zm, respectively. When the value of the action potential as the final goal of the training is Vm, the impedance constant Z with respect to the action potential Vk measured by the electromyograph is Vk <Vm. Z = {(Zm−Zs) / Vm} · Vk + Zs When Vk ≧ Vm, a controller including an impedance constant correction unit defined as Z = Zm, and a control unit for impedance-controlling the operation of the training machine with the impedance constant Z With a location.

The present invention measures and feeds back the electromyograms of various skeletal muscles during limb movement, and the trainer operates according to the trainee's muscular strength and training purpose (minimum value and maximum value of impedance constant). Safe and advanced limb movements that take into account myoelectricity. According to an embodiment of the present invention,
During the training operation, the impedance constant correction unit sets the maximum amplitude value of the action potential obtained for each preset period as the action potential Vk, which is input information to the impedance constant correction unit.

According to the embodiment of the present invention, during the training operation, the impedance constant correction unit converts the average of the amplitude values of the action potentials obtained for each of the predetermined period intervals into the input information to the impedance constant correction unit. Is the action potential Vk. According to the embodiment of the present invention, during the training operation, the impedance constant correction unit converts the integrated value of the action potential value obtained within the preset period interval into the activity information as input information to the impedance constant correction unit. Potential V
k.

According to the embodiment of the present invention, during the training operation, the impedance constant correction unit performs the FFT based on the waveform of the action potential obtained within a preset period.
Is performed, the power spectrum is obtained, and the band distribution of the frequency is set as the action potential Vx which is input information to the impedance constant correction unit.

[0013]

Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of a training device according to an embodiment of the present invention. The training device of the present embodiment includes:
The training device 101 for moving the limb 106, the surface electrode 107a attached to the skin on the rectus abdominis muscle, the surface electrode 107b attached to the skin on the lower back muscle group, and the skin on the quadriceps muscle A surface electrode 107c and a surface electrode 107d attached to the skin on the hamstrings
And a surface electrode 10 attached to the skin on the triceps surae
7e, an action potential (myoelectric) of various skeletal muscles is measured by the surface electrodes 107a to 107e, and a myoelectric measuring apparatus 102 for processing the myoelectric data; Constant correction unit 10 that determines impedance constant Z for myoelectric information based on
3. A controller device 105 including a control unit 104 for controlling the operation of the training device 101 with the impedance constant Z determined by the impedance constant correction unit 103.

The training device 101 includes a training device base 101a,
A frame 101b installed on the training device base 101a;
01b, a motor (not shown) driven by the controller 105 to drive the ball screw 101c, a movable part 101c reciprocating along the frame 101b by the ball screw, A limb gripping portion 101d for fixing the portion 101c to the limb 106, and a link mechanism 1 having a free axis interposed between the links and moving as the movable portion 101c moves.
01e.

FIG. 2 is a block diagram of the controller device 105. The control unit 104 controls the training device 1 according to the target trajectory.
01 operates, the reaction force F from the limb 106 is measured by a force sensor (not shown) attached to the movable portion 101c and the limb grip 101d, and the response of the movable portion 101c and the limb grip 101d to the external force F Controls the movement of the training device 101 such that a virtual mechanical impedance consisting of inertia M, viscosity B, and elasticity K is realized. From the virtual impedance constants (M, B, K), the deviation δx of the target trajectory xd (the trajectory where the positions of the movable part 101c and the limb gripper 101d should be taken at zero force) by impedance control is δx (s) = F (s) / (Ms ² + Bs +
K) (where s is a Laplace operator) and the sum of the target trajectory xd and the deviation δx is given to the servo system as a new motion command xr, thereby implementing the impedance control of the training device 101 for the limb 106. I do.

Next, the process of generating the impedance constant Z from the electromyogram Vk via the evaluation function 201 in the impedance constant correction unit 103 will be described with reference to FIG.
Here, the impedance constant Z is, for example, the above-described virtual spring constant K. In FIG. 3, Zs is the minimum value of the impedance constant Z, Zm is the maximum value of the impedance constant Z, and Vm is the myoelectric Vk which is the final target of the training.

FIG. 1 is a graph of an evaluation function 201 for determining an impedance constant (softness of operation) Z of a movable portion of an apparatus with respect to an action potential Vk of a main muscle (a muscle to be trained) among the above muscles. It is. The constants Zs, Zm, Vm are
Strength trainers, trainers, etc. set and change according to the individual and training menu. In FIG. 3, the relationship between the myoelectric potential Vk and the impedance constant Z is in a region 301, that is, when Vk <Vm, a region of Z = {(Zm−Zs) / Vm} · Vk + Zs (proportional relationship) 302, that is, Vk When ≧ Vm, Z = Zm (constant) is set. Thus, the impedance constant Z according to the myoelectric Vk is set until the target myoelectric Vm is obtained. Further, when Vk ≧ Vm, Z = Zm (constant) means that the target electromyogram Vm during training at that time is set.
This is because no more muscular strength is required.

According to the above-described method, the impedance constant Z of the movable unit of the apparatus can be changed in accordance with the myoelectricity of the trainee, and the muscle strength training can be performed in accordance with individual differences. Also, automatic movement,
The impedance constant Z of the movable part of the device corresponding to the myoelectricity for each training purpose such as passive exercise (CPM) and the trainee
Is determined, the operation of the apparatus can be controlled by measuring the myoelectric Vk.

The myoelectric potential Vk, which is input information to the impedance constant correcting section 103, may be an amplitude value of the myoelectric potential, an average value of the myoelectric potential, a cumulative calculation result of the myoelectric potential, and a frequency distribution of the myoelectric potential. . In the case where the amplitude value of the electromyogram is used as input information to the impedance constant correction unit 103, the maximum amplitude value of the electromyogram obtained in each preset period section is input during the training operation, and is shown in FIG. The evaluation function 201 evaluates the myoelectricity. Subsequent processing is the same as the method described in the above embodiment, and the training device 101 is implemented by using a desired training menu (passive exercise, automatic assistance exercise, automatic exercise or resistance exercise, etc.), and impedance control according to the trainee. Control the operation of.

When the average value of the electromyogram is used as the input information to the impedance constant correction unit 103, during the training operation, the average of the amplitude values of the electromyogram obtained in each of the predetermined period sections is input. The evaluation of the myoelectricity is performed using the evaluation function 201 shown in FIG. Thereafter, the operation of the training device 101 is controlled by the same control method. When the result of the cumulative calculation of the myoelectricity is used as the input information to the impedance constant correction section 103, the cumulative integration of the myoelectric value obtained within a preset period section is input during the training operation, and FIG.
The myoelectricity is evaluated using the evaluation function 201 shown by. Thereafter, the operation of the training device 101 is controlled by the same control method.

When the change in the frequency distribution of the electromyogram is used as the input information of the impedance constant correction unit 103, during the training operation, the frequency conversion by the FFT is performed on the electromyogram obtained in a predetermined period section. The power spectrum is obtained, and the frequency band distribution (the maximum frequency band or the average frequency band) is used as information, and evaluation is performed using the evaluation function 201 shown in FIG. Thereafter, the operation of the apparatus is controlled by the same control method.

By changing the impedance Z, the position, speed and load of the training device 101 can be made variable.

[0023]

As described in detail above, according to the present invention,
In a training device for moving a limb, by measuring various skeletal muscles of the trainee and measuring the myoelectricity, there is an effect that an advanced limb movement can be effectively performed in response to individual differences in muscular strength.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of a training device according to an embodiment of the present invention.

FIG. 2 shows an impedance constant correction unit 103 and a control unit 10.
FIG. 4 is a block diagram of FIG.

FIG. 3 is an explanatory diagram of an evaluation function 201 in an impedance constant correction unit 103.

[Explanation of symbols]

 Reference Signs List 101 training device 102 myoelectric measurement device 101a training device base 101b frame 101c movable portion 101d limb gripping portion 101e link mechanism 103 impedance constant correction portion 104 control portion 105 controller device 106 limb (training target) 107a electrode attached to rectus abdominal muscle 107b An electrode attached to the lower back muscle group 107c An electrode attached to the quadriceps 107d An electrode attached to the hamstrings 107e An electrode attached to the triceps lowerus 201 Evaluation function 301 Impedance constant change area 302 Impedance constant fixed area Vk EMG Z impedance constant

Claims (5)

[Claims] 1. A training device for moving a limb, a plurality of electrodes attached to skin on muscles involved in the movement of the limb, and a myoelectric device for measuring an action potential of skeletal muscle at each part of the limb from an output of the electrode. When the minimum and maximum values of the impedance constant in the impedance control of the training device are set to Zs and Zm, respectively, and the action potential value of the final target of the training is set to Vm, An impedance constant correction unit that determines an impedance constant Z with respect to the action potential Vk measured by the device, when Vk <Vm, Z = {(Zm−Zs) / Vm} · Vk + Zs, when Vk ≧ Vm, Z = Zm A training apparatus having a controller including a control unit for controlling the impedance of the operation of the training device with the impedance constant Z; 2. The training apparatus according to claim 1, wherein the impedance constant correction unit calculates an action potential Vk, which is input information to the impedance constant correction unit, based on a maximum amplitude value of the action potential obtained for each preset period section during the training operation. The training device according to claim 1, wherein 3. The impedance constant correcting section calculates an average of the amplitude values of action potentials obtained for each preset period section during a training operation by using an action potential Vk as input information to the impedance constant correcting section. The training device according to claim 1, wherein 4. The impedance constant correction unit sets an integral value of an action potential obtained within a preset period section as an action potential Vk as input information to the impedance constant correction unit during a training operation. The training device according to claim 1. 5. The impedance constant correcting section performs frequency conversion by FFT from a waveform of an action potential obtained within a preset period during a training operation, obtains a power spectrum thereof, and obtains a frequency band distribution. The training device according to claim 1, wherein 活動 is an action potential Vk which is input information to the impedance constant correction unit.