JP2018187088A - Tongue function inspection and training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tongue function test / training device capable of detecting the movement of the tongue portion and causing the tongue portion to perform the movement. SOLUTION: The tongue function test / training device of the present invention rotates a tongue tip holding portion 10 for holding the tongue tip of the tongue portion, a first arm 21 for attaching the tongue tip holding portion 10 to one end, and a first arm 21. A strain sensor that detects the tongue force applied to the first motor 31, the second motor 32 and the third motor 33 that move the first arm 21 and the first motor 31 to arbitrary positions on the virtual plane, and the tongue tip holding portion 10. 40, the tongue force measuring unit 51 that measures the tongue force by the signal from the strain sensor 40, and the first motor 31, the second motor 32, and the third motor 33 according to the tongue force measured by the tongue force measuring unit 51. A motor rotation command unit 52 that outputs a rotation command to the tongue tip, and a tongue tip position measuring unit 53 that measures the position and posture of the tongue tip holding portion 10 from the rotation angles of the first motor 31, the second motor 32, and the third motor 33. It is characterized by having. [Selection diagram] Fig. 1

Description

  The present invention relates to a tongue function inspection / training apparatus that measures tongue force in an arbitrary direction from a tongue and performs at least one of inspection of the tongue and training of the tongue.

In 2011, the third leading cause of death in Japan changed from cerebrovascular disease to “pneumonia”. Of the 124,652 deaths due to pneumonia, 96.5% are aged 65 years or older, and about half of them are said to have died from “aspiration pneumonia due to dysphagia”. In addition, it is said that about 30% of late elderly people have dysphagia, and at least 5 million people are at risk of dying from pneumonia. In Iwate Prefecture, the problem of dysphagia continues to get worse, with 1,666 deaths from pneumonia annually.
In order to effectively perform swallowing rehabilitation, it is important to accurately grasp swallowing function and to carry out training suitable for individuals. Evaluation of swallowing function is often performed with a focus on "tongue motor ability" that directly or indirectly contributes to the generation of bolus (making a swallowable mass), feeding into the pharynx, and passing through the pharynx . At present, the force that crushes the food taken into the mouth between the front part of the palate and the tongue is defined as tongue pressure (Non-Patent Document 1), and by focusing on the maximum value, evaluation of tongue function decline and training effect can be performed. However, with this method, the motor ability of each part such as the tip of the tongue, the tongue body, and the base of the tongue, and the motor ability of the paralyzed side and the non-paralyzed side cannot be individually evaluated. I have a problem that I can only evaluate from a macro perspective.
On the other hand, in the swallowing function training, since detailed evaluation of tongue movement ability cannot be performed as described above, exercise for expanding the range of motion by hand, muscle strengthening training by pressing the tongue against the tongue depressor or spoon, balloon-type tongue pressure A simple and coarse training method, such as training to increase the intraoral pressure with a measuring instrument, has been adopted. However, it is physiologically clear that the training site and effect vary greatly depending on the magnitude, direction, and time of the load applied to the tongue, and it can be said that it is essential to realize training suitable for the individual tongue function. In addition, tongue movement disorders have various pathological conditions and are required to cope with them. A more detailed and accurate assessment is essential for proper training implementation and outcomes.
Therefore, the present inventors can evaluate the ability to exert and adjust the power of the tongue, for example, a tongue function evaluation method that can quantitatively evaluate functional deterioration such as dysphagia, and visual feedback. A tongue function training method capable of prompting the trainee to adjust the force of the tongue according to the target value, and effectively performing training to increase instantaneous power, skill, muscular strength, or endurance (Patent Document 1).
Note that Patent Document 2 discloses that the actuator output is controlled so as to generate a force in six directions at the distal end portion of the two-joint arm device, thereby outputting the muscle output of the human upper limb or lower limb and the output direction of the distal end of the upper limb or lower limb. Rehabilitation education robots that can reproduce the relationship between the muscle and the output of each muscle of the upper limb or lower limb of the human and the output direction of the tip of the upper limb or the lower limb. Has proposed.
Further, Patent Document 3 determines the progress of human rehabilitation by the progress estimation unit, and the motion range restriction unit determines the motion range in which the robot arm operates according to the progress. We have proposed a robot that can promote the extension movement of the upper limbs in response.

Japanese Patent Application No. 2006-182278 JP 2008-281926 A JP2015-139825A

Hayashi R, Tsuga K et al., A novel handy probe for tongue pressure measurement.Int J Prosthodont, 15: 385-388, 2002.

  As in Patent Document 2 and Patent Document 3, many training devices for human upper limbs or lower limbs have been proposed, but for tongues that do not have joints, most devices for inspection and training have been proposed. Not.

  The present invention is suitable for the tongue function evaluation method and the tongue function training method proposed in Patent Document 1, and can detect the movement of the tongue and can operate the tongue. The purpose is to provide inspection and training equipment.

The tongue function test / training apparatus of the present invention according to claim 1 measures a tongue force in an arbitrary direction from the tongue, and performs at least one of the test of the tongue and the training of the tongue. A training apparatus, a tongue apex holding part for holding the tongue apex of the tongue, a first arm for attaching the tongue apex holding part to one end, a first motor for rotating the first arm, the first arm, A second motor and a third motor that move the first motor to an arbitrary position in a virtual plane, a strain sensor that detects the tongue force applied to the tongue tip holding portion, and the tongue force based on a signal from the strain sensor A tongue force measuring unit for measuring the rotation, a motor rotation command unit for outputting a rotation command to the first motor, the second motor, and the third motor according to the tongue force measured by the tongue force measuring unit; The first motor, 2 motor, and is characterized in that a tongue tip position measuring unit for measuring the position and orientation of the tongue tip holder from the rotation angle of the third motor.
According to a second aspect of the present invention, in the tongue function testing / training apparatus according to the first aspect, the strain sensor is attached to the first arm.
According to a third aspect of the present invention, in the tongue function testing / training apparatus according to the first or second aspect, a second arm that attaches the casing of the first motor to one end, and the casing of the second motor A third arm attached to one end of the second arm, a second motor rotating portion attached to the other end of the second arm, and a third motor rotating portion attached to the other end of the third arm, The first motor is disposed below the second arm, and the second motor and the third motor are disposed below the third arm.
According to a fourth aspect of the present invention, in the tongue function testing / training apparatus according to any one of the first to third aspects, a 6-axis force sensor is used as the strain sensor.
According to a fifth aspect of the present invention, in the tongue function testing / training apparatus according to any one of the first to fourth aspects, the tongue force measured by the tongue force measuring unit is zero. A first command mode for outputting the rotation command from the motor rotation command unit is provided.
According to a sixth aspect of the present invention, in the tongue function testing / training apparatus according to any one of the first to fifth aspects, the tongue force measured by the tongue force measuring unit is a negative value in an arbitrary direction. The motor rotation command unit has a second command mode for outputting the rotation command so as to maintain the above.
According to a seventh aspect of the present invention, in the tongue function testing / training apparatus according to any one of the first to sixth aspects, the tongue force measured by the tongue force measuring unit is a positive value in an arbitrary direction. The motor rotation command unit has a third command mode for outputting the rotation command so as to maintain the above.
The invention according to claim 8 is the tongue function inspection / training device according to claim 5, wherein the tongue force measured by the tongue force measurement unit maintains a value of zero in the first command mode. The maximum displacement in each direction of the tongue apex holding unit is measured by the tongue apex position measurement unit, and a range equal to or less than the maximum displacement is set as an inspection range or a training range.
A ninth aspect of the present invention is the tongue function inspection / training device according to any one of the first to eighth aspects, further comprising a restricting tool for restricting at least one of the head and the jaw. It is characterized by.
According to a tenth aspect of the present invention, in the tongue function testing / training apparatus according to any one of the first to ninth aspects, the biological signal detecting means detects a myoelectric potential signal from a muscle that performs jaw-and-mouth movements. And a fatigue determination unit that determines fatigue based on the myoelectric potential signal from the biological signal detection means.

  According to the tongue function inspection / training apparatus of the present invention, the movement of the tongue can be detected, and the tongue can be operated.

The block diagram which shows the tongue function test | inspection and training apparatus by one Example of this invention Configuration diagram showing the mechanism of the tongue function inspection / training device Top view showing rectilinear movement of the tongue function inspection / training device Top view showing the arcuate motion of the tongue function test and training device

  The tongue function inspection / training apparatus according to the first embodiment of the present invention includes a tongue apex holding unit that holds the tongue apex of the tongue, a first arm that attaches the tongue apex holding unit to one end, and a first arm that rotates the first arm. 1 motor, the 1st arm and the 1st motor, the 2nd motor and 3rd motor which move to arbitrary positions in a virtual plane, the strain sensor which detects the tongue force added to a tongue tip holding part, and the signal from a strain sensor A tongue force measuring unit that measures the tongue force by the motor, a motor rotation command unit that outputs a rotation command to the first motor, the second motor, and the third motor in accordance with the tongue force measured by the tongue force measuring unit; A tongue tip position measuring unit that measures the position and posture of the tongue tip holding unit from the rotation angles of the motor, the second motor, and the third motor is provided. According to the present embodiment, the movement of the tongue can be detected, and the operation can be performed on the tongue.

  The second embodiment of the present invention is a tongue function inspection / training apparatus according to the first embodiment, in which a strain sensor is attached to a first arm. According to the present embodiment, the movement of the tongue can be accurately detected, and an accurate operation can be performed on the tongue.

  According to a third embodiment of the present invention, in the tongue function inspection / training apparatus according to the first or second embodiment, a second arm that attaches a housing of the first motor to one end, and a housing of the second motor A third arm attached to one end of the second arm, a second motor rotating portion attached to the other end of the second arm, a third motor rotating portion attached to the other end of the third arm, and the first motor attached to the second arm. The second motor and the third motor are arranged below the second arm, and the second motor and the third motor are arranged below the third arm. According to the present embodiment, the first motor, the second motor, and the third motor are all arranged below the inspection / trainer's field of view, so that the inspection / trainer does not feel pressure. Further, for example, it is possible to secure a space for installing a monitor that visually guides an examiner / trainer.

  The fourth embodiment of the present invention uses a 6-axis force sensor as a strain sensor in the tongue function inspection / training apparatus according to any one of the first to third embodiments. According to the present embodiment, by using the 6-axis force sensor, the vector value of the force having each part of the tongue as the action point can be accurately measured.

  In the fifth embodiment of the present invention, in the tongue function testing / training apparatus according to any one of the first to fourth embodiments, the tongue force measured by the tongue force measuring unit becomes a zero value. A first command mode for outputting a rotation command from the motor rotation command unit is provided. According to the present embodiment, it is possible to detect the operation of the tongue based on the intention of the examiner / trainer himself or the guidance operation of the tongue by the assistant.

  In the sixth embodiment of the present invention, in the tongue function inspection / training apparatus according to any one of the first to fifth embodiments, the tongue force measured by the tongue force measuring unit is a negative value in an arbitrary direction. The motor has a second command mode for outputting a rotation command from the motor rotation command unit so as to maintain the above. According to this embodiment, the direction of movement of the tongue can be guided. The direction of movement includes not only the direction in which the tongue is moving, but also the direction in which the tongue is intended to move.

  In the seventh embodiment of the present invention, in the tongue function testing / training apparatus according to any one of the first to sixth embodiments, the tongue force measured by the tongue force measuring unit is a positive value in an arbitrary direction. A third command mode for outputting a rotation command from the motor rotation command unit so as to maintain the above. According to the present embodiment, resistance can be given in an arbitrary direction with respect to the operation direction of the tongue.

  The eighth embodiment of the present invention is a tongue function inspection / training apparatus according to the fifth embodiment, wherein the tongue force measured by the tongue force measurement unit maintains a zero value in the first command mode. The maximum displacement in each direction of the holding unit is measured by the tongue position measuring unit, and a range equal to or less than the maximum displacement is set as an inspection range or a training range. According to the present embodiment, the tongue training range can be set within an operable range, and appropriate training can be performed.

  A ninth embodiment of the present invention is a tongue function inspection / training apparatus according to any one of the first to eighth embodiments, and includes a restricting tool that restricts at least one of the head and the jaw. It is. According to the present embodiment, highly accurate inspection and training can be performed, and safety can be improved.

  According to a tenth embodiment of the present invention, in the tongue function inspection / training apparatus according to any one of the first to ninth embodiments, a biological signal detection unit that detects a myoelectric potential signal from a muscle that performs jaw-and-mouth movement; And a fatigue determination unit that determines fatigue based on a myoelectric potential signal from the biological signal detection means. According to this embodiment, training can be performed while monitoring the state of the trainee so as not to cause muscle fatigue.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a tongue function inspection / training apparatus according to an embodiment of the present invention.
The tongue function inspection / training apparatus according to this embodiment measures tongue force in an arbitrary direction from the tongue, and performs at least one of inspection of the tongue and training of the tongue.
The tongue function inspection / training apparatus includes a tongue apex holding unit 10 that holds the tongue apex of the tongue, a first arm 21 that attaches the tongue apex holding unit 10 to one end, a first motor 31 that rotates the first arm 21, and The second motor 32 and the third motor 33 that move the first arm 21 and the first motor 31 to arbitrary positions in the virtual plane, the strain sensor 40 that detects the tongue force applied to the tongue tip holding unit 10, and the control unit 50 And.
The housing 30a (see FIG. 2) of the first motor 31 is attached to one end of the second arm 22, the housing 30a (see FIG. 2) of the second motor 32 is attached to one end of the third arm 23, and the third motor. The rotating portion 30 b (see FIG. 2) 33 is attached to the other end of the third arm 23.
The strain sensor 40 is preferably a 6-axis force sensor. By using the 6-axis force sensor, the force vector value with each part of the tongue as the action point can be accurately measured.

The control unit 50 includes a tongue force measuring unit 51 that measures tongue force based on a signal from the strain sensor 40, a first motor 31, a second motor 32, and a third motor according to the tongue force measured by the tongue force measuring unit 51. Tongue tips that measure the position and posture (orientation) of the tongue tip holding unit 10 from the rotation angles of the motor rotation command unit 52 that outputs a rotation command to the motor 33, and the first motor 31, the second motor 32, and the third motor 33 From the position measurement unit 53, the tongue tip storage unit 54 that stores the position and posture of the tongue tip holding unit 10 measured by the tongue tip position measurement unit 53, and the position of the tongue tip holding unit 10 stored in the tongue tip position storage unit 54 A training range setting unit 55 for setting a training range.
By such a control unit 50, the movement of the tongue can be detected, and the operation can be performed on the tongue.

The control unit 50 has a first command mode 50A, a second command mode 50B, and a third command mode 50C.
In the first command mode 50A, a rotation command is output from the motor rotation command unit 52 so that the tongue force measured by the tongue force measuring unit 51 becomes zero. According to the first command mode 50A, it is possible to detect tongue movement based on the intention of the examiner / trainer himself or guidance of the tongue by an assistant.
The second command mode 50B outputs a rotation command from the motor rotation command unit 52 so that the tongue force measured by the tongue force measurement unit 51 maintains a negative value in an arbitrary direction. According to the second command mode 50B, the direction of movement of the tongue can be guided.
The third command mode 50C outputs a rotation command from the motor rotation command unit 52 so that the tongue force measured by the tongue force measurement unit 51 maintains a positive value in an arbitrary direction. According to the 3rd command mode 50C, resistance can be given to arbitrary directions to the direction of movement of a tongue.
Here, a positive value or a negative value for the direction of the measured tongue force (force vector) may be maintained, but a positive value for the force component in an arbitrary direction among the measured force vectors. Alternatively, a negative value may be maintained. Further, the positive value or the negative value may be kept constant or may be changed during operation. In the first command mode 50 </ b> A, the maximum displacement in each direction of the tongue tip holding unit 10 that maintains the value of the tongue force measured by the tongue force measuring unit 51 is measured by the tongue tip position measuring unit 53 and the tongue tip position storage unit 54. The training range setting unit 55 sets the range below the maximum displacement as the inspection range or the training range, so that the training range of the tongue can be set within the operable range, and appropriate training is performed. Can do.
In the first command mode 50A, the tongue tip position measuring unit 53 measures the maximum displacement in each direction of the tongue tip holding unit 10 that maintains the value of the tongue force measured by the tongue force measuring unit 51 to be zero. Or it can be set as the measurement mode for training.
Moreover, the 2nd command mode 50B or the 3rd command mode 50C can be made into the rehabilitation mode for training.

  The tongue function inspection / training device preferably includes a restricting tool 60 that restricts at least one of the head and jaw of the examiner / trainer. Training can be possible and safety can be increased.

  The tongue function inspection / training apparatus includes a biological signal detection unit 70 that detects a myoelectric potential signal from muscles that perform the jaw and mouth movements of the examiner / trainer. It is preferable to have a fatigue determination unit 56 that determines fatigue based on an electric potential signal. By having the biological signal detection means 70 and the fatigue determination unit 56, training can be performed while monitoring the state of the trainee so as not to cause muscle fatigue.

FIG. 2 is a block diagram showing the mechanism of the tongue function inspection / training apparatus.
2A is a perspective view showing the entire mechanism of the tongue function inspection / training apparatus, FIG. 2B is a top view showing the first arm, and FIG. 2C is a first view with a strain sensor attached. FIG. 2D is a top view showing the second arm, FIG. 2E is a top view showing the third arm, and FIG. 2F is a view showing the first motor and the second arm. It is a perspective view which shows a motor.

  As shown in FIG. 2A, the strain sensor 40 is attached between the tongue holding part 10 and the first arm 21. Although the strain sensor 40 is provided at the end of the first arm 21 in this embodiment, it may be arranged in the middle of the first arm 21.

  As shown in FIG. 2 (f), the first motor 31 and the second motor 32 are composed of a housing 30a having an electric motor part therein and a rotating part 30b that rotates together with the rotating shaft of the electric motor part. The Note that the third motor 33 is also composed of a housing 30a and a rotating portion 30b, like the first motor 31 and the second motor 32.

As shown in FIG. 2A, the housing 30a of the first motor 31 is fixed to the lower surface of the second arm 22, and the housing 30a of the second motor 32 is fixed to the lower surface of the third arm 23. The housing 30 a of the motor 33 is disposed below the third arm 23.
As described above, the first motor 31 and the second motor 32 are arranged by arranging the first motor 31 below the second arm 22 and arranging the second motor 32 and the third motor 33 below the third arm 23. , And all the third motors 33 can be arranged below the field of view of the examiner / trainer, does not give the examiner / trainer a feeling of pressure, and, for example, a monitor that visually guides the examiner / trainer It is possible to secure a space for installing the. By using the monitor to visually indicate the target value and guiding it, the test / trainer can be encouraged to adjust the force of the tongue, and the instantaneous power, skill, muscle strength, or Training to increase endurance can be performed effectively, and the ability to adjust the tongue force that can be demonstrated can be evaluated. Here, the guidance includes the magnitude and direction of the force, the position and posture of the tongue, and the force and movement of the tongue combining these. When guidance is performed by visually indicating the target value, it is preferable to allow the examiner / trainer to determine whether the target value matches the target value by display or voice output. When displaying the coincidence with the target value, for example, the display color is changed, or the display method is changed such as blinking and continuous lighting.

As shown in FIGS. 2B and 2C, the first arm 21 includes a columnar portion 21a, a connection portion 21b, and a rotation mounting portion 21c. The rotation attachment portion 21c forms an end surface with which the connection portion 21b abuts on the side surface, and forms a recess in which the rotation portion 30b is disposed on the lower surface. A rotation portion mounting hole 20b for fixing the rotation portion 30b is formed at the other end at the position of the recess.
The strain sensor 40 is fixed to one end of the columnar portion 21a. The other end of the columnar part 21a is fixed to the central part of the connection part 21b.

  As shown in FIGS. 2D and 2E, the second arm 22 and the third arm 23 rotate with the opening 20a that protrudes the rotating portion 30b on the upper surface and the rotating portion 30b fixed. A part mounting hole 20b is formed at the other end. A housing attachment hole 20c for fixing the housing 30a is formed around the opening 20a.

FIG. 3 is a top view showing a straight-ahead operation of the tongue function inspection / training apparatus.
FIG. 3A shows the extended state, and FIG. 3B shows the bent state. The operation of the tongue when the tongue is moved back and forth can be detected by the operation of FIG. 3 (a) to FIG. 3 (b) or the operation of FIG. 3 (b) to FIG. 3 (a). In addition, the tongue can be trained in the back-and-forth motion.

FIG. 4 is a top view showing an arcuate operation of the tongue function inspection / training apparatus.
4A and 4C show the center position, FIG. 4B shows the unidirectional position, and FIG. 4D shows the other direction position. 3A to 3B can detect the arcuate motion of the tongue from the central position to the one-way position, and the tongue from the central position to the one-way position with respect to the tongue. Can be trained in the arcuate motion of Further, the arc-like movement of the tongue from the center position to the other direction position can be detected by the movement of FIG. 3C to FIG. 3D, and the center position is shifted from the center position to the other direction position. Training of the arcuate motion of the tongue can be performed. In addition, the arc-like movement of the tongue from the one-way position to the center position can be detected by the movement of FIG. 4B to FIG. Training of the arcuate motion of the tongue can be performed. Further, the arc-like movement of the tongue from the other direction position to the center position can be detected by the movement of FIG. 3D to FIG. 3C, and the other direction position to the center position with respect to the tongue is detected. Training of the arcuate motion of the tongue can be performed.
According to the tongue function inspection / training apparatus of the present invention, the characteristics of the force that can be exerted in each direction such as left and right, up and down, front and rear, and diagonal while moving the tongue tip holding unit 10 in any direction and at any speed are quantified. Visible, training can be performed in consideration of muscle contraction mode (isometric, isotonic, isokinetic).
In addition, the tongue function inspection / training apparatus of the present invention inspects inspection result data and training result data, such as tongue force and motion trajectory exhibited in inspection and training, and errors with these target values. -It memorize | stores with training date data, and has the function to use these memorized data at the next inspection and training, and can perform effective and continuous training.
In addition, the tongue function inspection / training apparatus of the present invention detects a target value (the position and posture of the tongue to be guided, the direction and magnitude of the force) and the force actually exerted with respect to the target value. By feeding back the detected value, the target value can be changed according to the situation, and effective training and accurate inspection can be performed. Note that the vector value of the force with the tongue apex holding portion 10 as the operating point is incorporated into the motors 31, 32, and 33 by the strain sensor (6-axis force sensor) 40, and the position and posture of the tongue apex holding portion 10 are incorporated into the respective motors 31, 32, 33. Can be detected and calculated by an encoder.
In addition, the tongue function test | inspection / training apparatus of this invention can further be equipped with the mode which measures the tongue force with respect to the tongue part moved to arbitrary directions.

In this embodiment, the three-axis horizontal articulated mechanism has been described. However, the first motor 31 operates the θ axis for controlling the posture of the tongue apex holding unit 10, and the second motor 32 and the third motor. An XY axis table for controlling the position of the tongue tip holding unit 10 may be operated at 33. Even when the first arm 21 and the first motor 31 are moved to arbitrary positions in the virtual plane by the XY axis table, the XY axis table and the first motor 31 are preferably disposed below the first arm 21. .
Moreover, you may control the position and attitude | position of the tongue-tip holding | maintenance part 10 using a parallel link robot or a multi-joint manipulator.
The tongue apex holding unit 10 basically holds the tongue apex of the tongue. However, if the direction of movement of the tongue is determined in one direction in the inspection or training, the tongue apex holding unit 10 may be configured to regulate the direction of movement. What is necessary is just to be able to restrain at least a part of the operation of the tongue.

  The present invention is particularly suitable for evaluation and training of swallowing rehabilitation.

DESCRIPTION OF SYMBOLS 10 Tongue tip holding | maintenance part 20a Opening part 20b Rotation part attachment hole 20c Case attachment hole 21 1st arm 21a Columnar part 21b Connection part 21c Rotation attachment part 22 2nd arm 30a Case 30b Rotation part 31 1st motor 32 1st 2 motor 33 third motor 40 strain sensor 50 control unit 50A first command mode 50B second command mode 50C third command mode 51 tongue force measurement unit 52 motor rotation command unit 53 tongue tip position measurement unit 54 tongue tip position storage unit 55 training range Setting part 56 Fatigue judgment part 60 Restriction tool 70 Biosignal detection means

Claims (10)

A tongue function test / training device that measures tongue force in an arbitrary direction from the tongue and performs at least one of the inspection of the tongue and training of the tongue;
A tongue apex holding portion for holding the tongue apex of the tongue,
A first arm for attaching the tongue tip holding portion to one end;
A first motor for rotating the first arm;
A second motor and a third motor for moving the first arm and the first motor to arbitrary positions in a virtual plane;
A strain sensor for detecting the tongue force applied to the tongue tip holding portion;
A tongue force measuring unit that measures the tongue force based on a signal from the strain sensor;
A motor rotation command unit that outputs a rotation command to the first motor, the second motor, and the third motor according to the tongue force measured by the tongue force measurement unit;
Tongue function inspection / training apparatus comprising: a tongue tip position measuring unit that measures the position and posture of the tongue tip holding unit from rotation angles of the first motor, the second motor, and the third motor .   The tongue function inspection / training apparatus according to claim 1, wherein the strain sensor is attached to the first arm. A second arm for attaching the housing of the first motor to one end;
A third arm for attaching the housing of the second motor to one end;
A rotation part of the second motor is attached to the other end of the second arm,
A rotation part of the third motor is attached to the other end of the third arm,
The first motor is disposed below the second arm;
The tongue function inspection / training apparatus according to claim 1, wherein the second motor and the third motor are disposed below the third arm.   The tongue function inspection / training apparatus according to any one of claims 1 to 3, wherein a six-axis force sensor is used as the strain sensor. 5. The first command mode in which the rotation command is output from the motor rotation command unit so that the tongue force measured by the tongue force measurement unit has a zero value. The tongue function inspection / training apparatus according to any one of the above. The second command mode for outputting the rotation command from the motor rotation command unit so that the tongue force measured by the tongue force measurement unit maintains a negative value in an arbitrary direction. The tongue function inspection / training apparatus according to any one of claims 1 to 5. The third command mode in which the rotation command is output from the motor rotation command unit so that the tongue force measured by the tongue force measurement unit maintains a positive value in an arbitrary direction. The tongue function inspection / training apparatus according to any one of claims 1 to 6. In the first command mode, the maximum displacement in each direction of the tongue tip holding unit that maintains the zero value of the tongue force measured by the tongue force measurement unit is measured by the tongue tip position measurement unit, and is equal to or less than the maximum displacement. The tongue function inspection / training apparatus according to claim 5, wherein the range is set to an inspection range or a training range. The tongue function inspection / training apparatus according to any one of claims 1 to 8, further comprising a restricting tool that restricts at least one of the head and the jaw. Biological signal detection means for detecting a myoelectric potential signal from muscles that perform stomatognathic movement;
The tongue function inspection / training apparatus according to claim 1, further comprising a fatigue determination unit configured to determine fatigue based on the myoelectric potential signal from the biological signal detection unit.