KR102705143B1 - Control method of rehabilitation exercise apparatus for arrival exercise - Google Patents

Abstract

The present invention relates to a control method for a rehabilitation exercise device for reaching motion, and is characterized by including: (a) a step of measuring, by the rehabilitation exercise device, sound-side reaching motion data for a healthy body among the symmetrical bodies of a rehabilitation subject; (b) a step of generating a normal reaching motion model based on the sound-side reaching motion data; (c) a step of measuring, by the rehabilitation exercise device, affected-side reaching motion data for an affected body among the bodies of the rehabilitation subject; and (d) a step of calculating a rehabilitation evaluation value of the affected body by applying the affected-side reaching motion data to the normal reaching motion model.
Accordingly, it is possible to perform rehabilitation exercises that reflect the unique reaching movement characteristics of the rehabilitation subject, and to establish a rehabilitation exercise plan that reflects the unique reaching movement characteristics.

Description

{CONTROL METHOD OF REHABILITATION EXERCISE APPARATUS FOR ARRIVAL EXERCISE}

The present invention relates to a control method for a rehabilitation exercise device for reaching movement, and more specifically, to a control method for a rehabilitation exercise device for reaching movement that reflects the reaching movement characteristics of a rehabilitation subject.

In general, reaching movements are actions that represent upper limb functions in daily life, such as reaching out to a target location or object and interacting with it. This is an important rehabilitation goal for stroke patients who suffer from impaired upper limb function.

In relation to reaching movements, rehabilitation methods in which therapists directly assist patients with movement are labor-intensive, so there are currently attempts to provide automated training to patients who are rehabilitation targets after stroke through rehabilitation exercise devices such as rehabilitation robots. Figure 1 is a photograph showing an example of a rehabilitation exercise device for reaching movements of the upper limb.

Conventional rehabilitation exercise devices have the advantage of providing repetitive training and thus reducing the burden on therapists. However, most rehabilitation training protocols using rehabilitation exercise devices are determined in advance regardless of the patient's reaching movement characteristics, which can lead to patients undergoing unnecessary training.

This means that the rehabilitation subject may waste time performing meaningless movements that have no training effect in the given time, so individualization of the reaching movement training protocol is necessary to enhance the effectiveness of rehabilitation training through reaching movements.

Since the ideal goal in most rehabilitation training is to reach the individual's original motor performance level, it is necessary to be able to evaluate the patient's unique motor performance, i.e., original motor performance ability, in order to individualize reach exercise training.

Considering the case of stroke patients, it would be ideal to evaluate the patient's own motor performance based on their normal ability before the stroke. However, in reality, it is not feasible to have data on normal reaching motor ability before the stroke.

Domestic Patent Publication No. 10-1471805 Domestic Patent Publication No. 10-1163903

The present invention has been made in consideration of the above points, and the purpose of the present invention is to provide a control method for a rehabilitation exercise device for reaching exercise, which enables rehabilitation exercise by reflecting the unique reaching movement characteristics of a rehabilitation subject and enables establishment of a rehabilitation exercise plan reflecting the unique reaching movement characteristics.

The purpose of the present invention is achieved by a control method of a rehabilitation exercise device for reach movement, according to the present invention, comprising: (a) a step of measuring, by the rehabilitation exercise device, healthy-side reach movement data for a healthy body among the symmetrical rehabilitation target bodies of a rehabilitation target; (b) a step of generating a normal reach movement model based on the healthy-side reach movement data; (c) a step of measuring, by the rehabilitation exercise device, affected-side reach movement data for an affected body among the rehabilitation target bodies; and (d) a step of calculating a rehabilitation evaluation value of the affected body by applying the affected-side reach movement data to the normal reach movement model.

Here, the step (a) may include: (a1) a step in which a maximum movement is performed according to a preset trajectory shape using the rehabilitation exercise device, thereby generating a movement trajectory for the trajectory shape; (a2) a step in which a plurality of target positions are set within the movement trajectory; (a3) a step in which a reaching movement is performed from an initial position to each of the target positions using the rehabilitation exercise device; and (a4) a step in which, as a result of performing the step (a3), the sound side reaching movement data for each of the target positions is measured.

Additionally, in the step (b), the normal reaching motion model can be generated for each target location.

And, the step (a3) is performed multiple times for each of the target positions, so that the sound side reaching movement data can be measured multiple times for each of the target positions in the step (a4).

Here, in the step (b), the normal reaching movement model can be generated by applying the healthy reaching movement data to a linear regression analysis technique.

And, the above normal reaching motion model is a mathematical formula

은 종속 변수로 예측되는 도달운동 시간이고,

는 독립 변수로 상기 목표위치까지의 목표 거리이고,

는 독립 변수로 도달운동의 평균 속도이고,

,

,

는 모델 상수로 각각의 상기 목표위치에 대한 상기 정상 도달운동 모델에 대해 고유한 값을 가진다)로 정의될 수 있다.(Here,

is the predicted reaching movement time as a dependent variable,

is the target distance to the target location as an independent variable,

is the average velocity of the reaching movement as an independent variable,

,

,

can be defined as a model constant that has a unique value for each of the above normal reaching motion models for each of the above target positions.

And, the step (c) is performed for each target location, and the affected side reaching movement data is measured for each target location; and in the step (d), the affected side reaching movement data measured for each target location is applied to the normal reaching movement model for the corresponding target location, so that the rehabilitation evaluation value can be calculated for each target location.

And, the above rehabilitation evaluation value is a mathematical formula

은 상기 재활 평가값이고,

는 상기 (c) 단계에서 측정된 상기 목표위치까지의 도달 시간이고,

은 해당 목표위치까지의 목표 거리, 해당 목표위치에 대한 평균 속도, 및 해당 목표위치에 대한 모델 상수가 반영되어 예측된 정상 도달운동에 대한 도달 시간이다)에 의해 산출될 수 있다.(Here,

is the above rehabilitation evaluation value,

is the arrival time to the target position measured in step (c) above,

can be calculated by the target distance to the target location, the average speed for the target location, and the arrival time for the predicted steady-state reaching motion, which reflects the model constant for the target location.

And, (e) based on the rehabilitation evaluation value calculated for each of the target positions, the method may further include a step of determining a rehabilitation training plan for each of the plurality of target positions.

According to the present invention, a method for controlling a rehabilitation exercise device for reaching exercise is provided, which enables rehabilitation exercise by reflecting the unique reaching movement characteristics of a rehabilitation subject and establishes a rehabilitation exercise plan reflecting the unique reaching movement characteristics.

In addition, according to the present invention, since reaching movement performance is evaluated by comparing it with the individual patient's performance based on a normal reaching movement model, patient ability can be objectively evaluated.

In addition, based on the normal reaching movement model, reaching movement training is established and provided according to the individual patient's needs, so unnecessary reaching movement movements can be minimized and training can be conducted more effectively.

In addition, based on the normal reaching movement model, it provides versatility that can be used in various forms of rehabilitation exercise devices that can measure the position and speed of the patient's hand.

In addition, based on the normal reaching movement model, it can quantitatively evaluate the individual patient's ability and provide appropriate training without a therapist, thereby contributing to reducing treatment costs and popularizing treatment.

Figure 1 is a photograph showing an example of a conventional rehabilitation exercise device for reaching movements of the upper limb.
Figure 2 is a perspective view showing an example of a rehabilitation exercise device for reaching exercise according to an embodiment of the present invention.
Figure 3 is a control block diagram of a rehabilitation exercise device for reaching exercise according to an embodiment of the present invention.
Figure 4 is a control flow diagram for explaining the process of creating a normal reaching movement model in a control method of a rehabilitation exercise device for reaching movement according to an embodiment of the present invention.
FIG. 5 is a drawing for explaining a reaching exercise method of a rehabilitation exercise device for reaching exercise according to an embodiment of the present invention.
FIG. 6 is a drawing for explaining a process of calculating a rehabilitation evaluation value in a control method of a rehabilitation exercise device for reaching exercise according to an embodiment of the present invention.

The advantages and features of the present invention, and the method for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and these embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person skilled in the art of the scope of the present invention, and the present invention is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. The terms "comprises" and/or "comprising" as used in the specification do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and/or" includes each and every combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, it is to be understood that these components are not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with the meaning commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly specifically defined.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

Figure 2 is a perspective view of a rehabilitation exercise device (100) for reaching exercise according to an embodiment of the present invention.

Referring to FIG. 2, a rehabilitation exercise device (100) according to an embodiment of the present invention may include a robot base (110), a robot body (120), a link assembly (130), and a hand rest (140). In addition, the rehabilitation exercise device (100) according to an embodiment of the present invention may be configured to further include a table (150).

The robot base (110) supports the entire rehabilitation exercise device (100) according to the embodiment of the present invention while being placed on the floor. In Fig. 2, the robot base (110) is shown as having an approximately rectangular parallelepiped shape as an example, but it is obvious that the technical idea of the present invention is not limited to this.

The robot body (120) is installed on the upper part of the robot base (110). Here, the robot body (120) according to the embodiment of the present invention is installed so as to be able to move up and down on the robot base (110), thereby enabling the height of the hand rest (140) to be adjusted.

Here, the robot body (120) may be configured to be manually moved up and down by the user, and as another example, a lifting drive unit configured to convert the forward and reverse rotation of a motor, such as a motor, into a linear movement of the robot body (120) in the up and down direction may be provided.

The link assembly (130) according to the embodiment of the present invention protrudes forward from the robot body (120). Here, the link assembly (130) is provided as an example in which it can be driven by a mechanism that moves with at least two degrees of freedom. For example, the link assembly (130) may be configured to move with two degrees of freedom in the horizontal direction. To this end, the link assembly (130) may be configured with a link structure composed of two or more links.

Here, a table (150) can be installed at a height between the robot body (120) and the robot base (110), and the link assembly (130) can be positioned on the upper part of the table (150).

According to an embodiment of the present invention, a hand rest (140) is coupled to the end of a link assembly (130). The user rests his/her hand on the hand rest (140) and then performs rehabilitation exercise, i.e., reaching exercise. Here, a grip bar is formed on the hand rest (140), so that the user can hold the grip bar and perform movement with two degrees of freedom, and can also perform movement while the hand is fixed by a fixing band.

The configuration of the rehabilitation exercise device (100) as described above is only one embodiment, and the technical idea of the present invention should not be interpreted as being limited to the configuration of the rehabilitation exercise device (100) of FIG. 2 and described above. That is, the control method of the rehabilitation exercise device (100) according to the embodiment of the present invention, which will be described later, can be applied to rehabilitation exercise devices (100) of various configurations.

Figure 3 is a control block diagram of a rehabilitation exercise device (100) for reaching exercise according to an embodiment of the present invention.

Referring to FIG. 3, a rehabilitation exercise device (100) according to an embodiment of the present invention may include a rehabilitation driving unit (161), a sensing unit (162), a model generation unit (163), a rehabilitation training unit (164), an image display unit (165), and a main control unit (166). In addition, a rehabilitation exercise device (100) according to an embodiment of the present invention may be configured to further include a communication unit (167) and a user input unit (168).

The rehabilitation driving unit (161) according to an embodiment of the present invention provides exercise load through a link assembly (130) to assist the user's rehabilitation exercise. For example, the rehabilitation exercise unit is configured with a pair of motors, and a load is supplied according to the rotation of the pair of motors.

The sensing unit (162) according to an embodiment of the present invention detects the position of the hand rest unit (140) when the rehabilitation subject performs a reaching movement while holding the hand rest unit (140). In the embodiment of the present invention, the position of the hand rest unit (140) is detected based on the detection result of a wheel encoder that detects the rotation amount of each motor constituting the rehabilitation exercise unit, but it is of course possible to apply various sensors capable of detecting the position of the hand rest unit (140).

The model generation unit (163) according to an embodiment of the present invention generates a normal reaching movement model unique to the rehabilitation subject. Here, a detailed description of the method for generating a normal reaching movement model by the model generation unit (163) will be described later.

The rehabilitation training unit (164) according to the embodiment of the present invention can perform rehabilitation exercise, i.e., reaching exercise, of a rehabilitation subject based on a normal reaching exercise model, and calculate a rehabilitation evaluation value of the rehabilitation subject based on this. In addition, the rehabilitation training unit (164) can determine a rehabilitation training plan of the rehabilitation subject based on the calculated rehabilitation evaluation value.

A detailed description of the process of calculating rehabilitation evaluation values and determining a rehabilitation training plan by the rehabilitation training unit (164) according to an embodiment of the present invention will be provided below.

The main control unit (166) according to an embodiment of the present invention controls the entire function of the rehabilitation exercise device (100) according to an embodiment of the present invention, and may be configured to include hardware components such as a CPU, memory, and a graphics card, and software components such as an operating system and various programs.

Here, the main control unit (166) can provide various information related to rehabilitation training during the rehabilitation training process of the rehabilitation subject through the image display unit (165).

Meanwhile, the main control unit (166) can transmit information about the normal reaching exercise model described later or information about rehabilitation evaluation values to an external device, such as a mobile device of a rehabilitation subject or a management server, through the communication unit (167).

Here, the user input unit (168) illustrated in Fig. 3 is a device that receives user input according to the user's operation.

Hereinafter, a control method of a rehabilitation exercise device (100) according to an embodiment of the present invention will be described in detail with reference to FIGS. 4 to 6.

Before the explanation, the rehabilitation exercise device (100) according to the embodiment of the present invention targets a symmetrical rehabilitation target body of a rehabilitation target. For example, in the case of an upper limb, the left upper limb and the right upper limb correspond to symmetrical rehabilitation target bodies, and among them, the body requiring rehabilitation is the affected body, and the normal body is the healthy body.

In the control method of the rehabilitation exercise device (100) according to the embodiment of the present invention, first, based on rehabilitation exercise using the rehabilitation exercise device (100), healthy side reaching movement data is measured. Then, based on the measured healthy side reaching movement data, a normal reaching movement model is generated.

That is, in an embodiment of the present invention, the motor ability of a rehabilitation subject in a normal state is measured using a healthy body, and this is created as a normal reaching movement model and reflected in the reaching movement of the affected body, so that the unique motor characteristics of the rehabilitation subject can be reflected.

In this way, with the normal reaching movement model registered, reaching movement is performed on the affected body, and reaching movement data for the affected body are measured.

Then, the affected side reaching movement data is applied to the normal reaching movement model to derive a rehabilitation evaluation value for the affected side body, thereby enabling an evaluation of the patient's condition that reflects the unique movement characteristics of the rehabilitation subject.

Hereinafter, with reference to FIG. 4, the process of generating a normal reaching movement model in a rehabilitation exercise device (100) according to an embodiment of the present invention will be described in detail.

First, the rehabilitation subject performs maximum exercise along a preset trajectory shape using the rehabilitation exercise device (100) with his/her healthy body (S40). In an embodiment of the present invention, the trajectory shape is a large circle drawn in cross section around the center of the rehabilitation subject's torso.

That is, when a rehabilitation subject draws a large circle while holding the hand rest (140) with his/her healthy body, for example, one of the upper limbs, the sensing unit (162) recognizes this, and the model generation unit (163) generates a motion trajectory (MT) for the trajectory shape. Fig. 5 (a) is a drawing showing an example of a motion trajectory (MT) generated in this manner.

Then, the model generation unit (163) sets a plurality of target positions within the generated motion trajectory (MT) (S41). In the embodiment of the present invention, as shown in (a) of Fig. 5, eight target positions are set within the motion trajectory (MT) as an example, and are set at equal intervals within the circular motion trajectory (MT) as an example. Here, the number or positions of the target positions shown in (a) of Fig. 5 are only examples, and of course, they can be configured in various forms.

When the target positions are set as described above, a process of measuring healthy reaching movement data for each target position is performed (S43).

First, in order to measure the sound reaching movement data for the first target position, the model generation unit (163) displays an image for the first target position on the image display unit (165) in conjunction with the main control unit (166). Fig. 5 (b) is a drawing showing an example of an image for the target position displayed on the image display unit (165).

Referring to (b) of Fig. 5, a movement cursor corresponding to a target position, an initial position, and a current hand resting portion (140) may be displayed in the image. Here, in the embodiment of the present invention, the center (MT) of the previously described movement trajectory (MT) is set as an initial position as an example.

As described above, when the target position is displayed on the image display unit (165), the rehabilitation subject initiates a reaching movement to move the hand rest (140) toward the target position (S42). At this time, the movement cursor displayed on the image display unit (165) moves in response to the movement of the hand rest (140), thereby enabling the rehabilitation subject to check the position of the hand rest (140) in real time.

In the above process, when the hand resting part (140) reaches the target position, the model generation part (163) measures the sound reaching motion data for the target position. In the embodiment of the present invention, as an example, the sound reaching motion data calculates the reaching motion time required to reach the target position, the target distance corresponding to the distance to the target position, and the average speed until reaching the target position.

In an embodiment of the present invention, as an example, a reaching motion is performed n times for one target location (S44), and a normal reaching motion model is created (S45) using the sound reaching motion data measured during the n-time performance process.

Here, in the embodiment of the present invention, a normal reaching motion model is generated by applying a linear regression analysis technique to sound reaching motion data as an example. Here, a normal reaching motion model is defined as in [Mathematical Formula 1] as an example.

[Mathematical Formula 1]

은 종속 변수로 예측되는 도달운동 시간이고,

는 독립 변수로 목표위치까지의 목표 거리이고,

는 독립 변수로 도달운동의 평균 속도이다.In [Mathematical Formula 1],

is the predicted reaching movement time as a dependent variable,

is the target distance to the target location as an independent variable,

is the average velocity of the reaching movement as an independent variable.

,

,

는 모델 상수로 각각의 목표위치에 대한 정상 도달운동 모델에 대해 고유한 값되며, 이러한 모델 상수가 재활 대상자의 고유의 운동 특성을 반영하게 된다.and,

,

,

is a model constant that is unique to each normal reaching movement model for each target location, and this model constant reflects the unique movement characteristics of the rehabilitation subject.

Again, referring to Fig. 4, when a normal reaching motion model is generated for one target position through the above-described process (S45), the target position is displayed on the image display unit (165) as shown in Fig. 5 (b) for generating a normal reaching motion model for the next target position (S47). At this time, it goes without saying that the target position is a different position from the position shown in Fig. 5 (b).

Then, through the process described above, a process for generating a normal reaching motion model for the next target position is performed, and after the process for generating a normal reaching motion model is performed until a normal reaching motion model is generated for all target positions (S46), and after all generated normal reaching motion models are registered in the rehabilitation exercise device (100) (S48), the process for generating a normal reaching motion model is terminated.

Through the above process, with the normal reaching movement model for each target location registered, the rehabilitation subject performs rehabilitation movement with his/her affected body.

Referring to Fig. 6, when a rehabilitation subject starts rehabilitation exercise (S60), one of the target positions described above is displayed on the screen of the image display unit (165) (S61). Here, as shown in Fig. 5 (b), the display of the target position may display an initial position, a target position, and a movement cursor, and similarly, the movement cursor may be configured to move in response to the movement of the hand rest unit (140).

Then, the rehabilitation subject starts a reaching movement using his/her affected side body (S62), and the rehabilitation training unit (164) measures the reaching movement data of the affected side for the target location (S63).

Then, the rehabilitation training unit (164) applies the measured reaching movement data for the corresponding target location to the normal reaching movement model for the corresponding target location (S64), and a rehabilitation evaluation value is calculated (S65).

Here, in the embodiment of the present invention, the time taken to reach the target position is measured using the reaching movement data of the affected side as an example. And, the rehabilitation evaluation value is calculated using [Mathematical Formula 2] as an example.

[Mathematical formula 2]

은 재활 평가값이고,

는 환측 신체를 이용한 목표위치로의 도달운동에서 측정된 목표위치까지의 도달 시간이다. 그리고,

은 해당 목표위치까지의 목표 거리, 해당 목표위치에 대한 평균 속도, 및 해당 목표위치에 대한 모델 상수가 반영되어 예측된 정상 도달운동에 대한 도달 시간이다.In [Mathematical Formula 2],

is the rehabilitation evaluation value,

is the time to reach the target position measured in the reaching movement to the target position using the affected body. And,

is the arrival time for the predicted steady-state reaching motion, reflecting the target distance to the target location, the average velocity for the target location, and the model constant for the target location.

와

의 차이가 클수록 환측 신체의 도달운동이 정상, 즉 건측 신체의 도달운동과 다르다는 것을 의미하며, 이를 다시

으로 나누어 정규화시켜, 재활 평가값

을 산출하게 된다.in other words,

and

The greater the difference, the more different the reaching movement of the affected body is from the normal, or healthy, reaching movement of the healthy body, and this is again

Divide by , normalize, and evaluate rehabilitation

It produces .

As described above, the rehabilitation evaluation value for one target location can be calculated by performing it once, or, as in the embodiment illustrated in Fig. 6, it can be performed m times (S66) and calculated as the average value.

Through the above process, when a rehabilitation evaluation value for one target location is calculated, the next target location is displayed on the image display unit (165) (S68) to calculate a rehabilitation evaluation value for the next target location, and through the above process, the process of calculating the rehabilitation evaluation value is performed until rehabilitation evaluation values for all target locations are calculated (S67).

Here, in an embodiment of the present invention, a rehabilitation training plan for multiple target locations is determined based on the rehabilitation evaluation values calculated for each target location (S69).

For example, depending on the size of the rehabilitation evaluation value, the number of reaching movement training sessions for each target location can be distributed. That is, among reaching movements for multiple target locations, it is decided to train more for abnormal reaching movements, and rehabilitation exercises can be performed accordingly.

As another example, when a rehabilitation subject has many target locations for reaching exercises or cannot devote a relatively large amount of time, rehabilitation exercises may be performed primarily at target locations with relatively low rehabilitation evaluation values.

Here, in the embodiment of the present invention, a rehabilitation evaluation value can be calculated even during the process of performing actual rehabilitation exercise, and this can be continuously updated in the rehabilitation evaluation value and applied to re-establish a rehabilitation training plan.

In the above-described embodiment, the body to be rehabilitated is the upper limb, and the rehabilitation exercise is implemented through two-axis movement in the horizontal direction. However, the body to be rehabilitated can also be applied to other symmetrical bodies. For example, it can be applied to rehabilitation exercise of the lower limb, and can also be applied to wrist movement, etc.

Above, while the embodiments of the present invention have been described with reference to the attached drawings, it will be understood by those skilled in the art that the present invention may be implemented in other specific forms without changing the technical idea or essential features thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

100: Rehabilitation exercise device 110: Robot base
120: Robot body 130: Link assembly
140 : Hand rest 150 : Table
161: Rehabilitation driving unit 162: Sensing unit
163: Model Generation Section 164: Rehabilitation Training Section
165: Video display unit 166: Main control unit
167: Communication section 168: User input section

Claims (9)

In a control method of a rehabilitation exercise device for reaching exercise,
(a) a step of measuring healthy side reaching movement data for the healthy side of the symmetrical rehabilitation subject's body by the rehabilitation exercise device;
(b) a step of generating a normal reaching movement model based on the above healthy reaching movement data;
(c) a step of measuring the affected side reaching movement data for the affected side of the body among the rehabilitation target bodies by the rehabilitation exercise device;
(d) a step of applying the affected side reaching movement data to the above normal reaching movement model to calculate a rehabilitation evaluation value of the affected side body;
Step (a) above
(a1) a step of performing maximum movement according to a preset trajectory shape using the above rehabilitation exercise device, thereby generating a movement trajectory for the above trajectory shape;
(a2) a step in which multiple target positions are set within the above movement trajectory;
(a3) A step in which a reaching movement is performed from an initial position to each target position using the above rehabilitation exercise device;
(a4) As a result of performing the step (a3), a step is included in which the sound reaching movement data for each of the target positions is measured,
In the step (b) above, the normal reaching movement model is created by applying the healthy reaching movement data to a linear regression analysis technique.
The above normal reaching motion model is a mathematical formula

(Here, is the predicted reaching movement time as a dependent variable, is the target distance to the target location as an independent variable, is the average velocity of the reaching movement as an independent variable, , , is a model constant that has a unique value for each of the above normal reaching motion models for each of the above target positions.
A control method for a rehabilitation exercise device for reaching motion, characterized by being defined as follows. delete In the first paragraph,
A control method for a rehabilitation exercise device for reaching motion, characterized in that in the step (b) above, the normal reaching motion model is generated for each target location. In the first paragraph,
A control method for a rehabilitation exercise device for reaching motion, characterized in that the step (a3) is performed multiple times for each of the target positions, and the sound side reaching motion data is measured multiple times for each of the target positions in the step (a4). delete delete In the first paragraph,
The above step (c) is performed for each target location, and the target side reaching movement data is measured for each target location;
A control method for a rehabilitation exercise device for reaching motion, characterized in that in the step (d) above, the reaching motion data measured separately for each target location is applied to the normal reaching motion model for the corresponding target location, and the rehabilitation evaluation value is calculated for each target location. In Article 7,
The above rehabilitation evaluation value is a mathematical formula

(Here,

is the above rehabilitation evaluation value,

is the arrival time to the target position measured in step (c) above,

is the predicted arrival time for steady-state reaching motion, reflecting the target distance to the target location, the average velocity for the target location, and the model constant for the target location.
A control method for a rehabilitation exercise device for reaching motion, characterized by being produced by . In the first paragraph,
(e) A control method of a rehabilitation exercise device for reaching exercise, characterized in that it further includes a step of determining a rehabilitation training plan for each of the plurality of target positions based on the rehabilitation evaluation values calculated for each of the target positions.