[go: up one dir, main page]

WO2014092076A1 - Dispositif d'entraînement de récupération de fonction d'avant-bras hémiplégique - Google Patents

Dispositif d'entraînement de récupération de fonction d'avant-bras hémiplégique Download PDF

Info

Publication number
WO2014092076A1
WO2014092076A1 PCT/JP2013/083068 JP2013083068W WO2014092076A1 WO 2014092076 A1 WO2014092076 A1 WO 2014092076A1 JP 2013083068 W JP2013083068 W JP 2013083068W WO 2014092076 A1 WO2014092076 A1 WO 2014092076A1
Authority
WO
WIPO (PCT)
Prior art keywords
forearm
torque
half cylinder
function recovery
drive shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2013/083068
Other languages
English (en)
Japanese (ja)
Inventor
永 余
洋介 仲西
和美 川平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kagoshima University NUC
Original Assignee
Kagoshima University NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kagoshima University NUC filed Critical Kagoshima University NUC
Priority to JP2014552045A priority Critical patent/JP6210644B2/ja
Publication of WO2014092076A1 publication Critical patent/WO2014092076A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4049—Rotational movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/03508—For a single arm or leg
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N1/00—Electrotherapy; Circuits therefor
    • A61N1/02—Details
    • A61N1/04—Electrodes
    • A61N1/0404—Electrodes for external use
    • A61N1/0408—Use-related aspects
    • A61N1/0452—Specially adapted for transcutaneous muscle stimulation [TMS]
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/02—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for large-room or outdoor sporting games
    • A63B71/023—Supports, e.g. poles
    • A63B2071/025—Supports, e.g. poles on rollers or wheels
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/20—Distances or displacements
    • A63B2220/24—Angular displacement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/54—Torque
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors

Definitions

  • the present invention relates to a hemiplegic forearm function recovery training apparatus that trains the paralyzed forearm and promotes recovery of the rotational function of the forearm.
  • the rotation includes “inward” in which the forearm is turned toward the center of the body and “outward” in which the forearm is turned outward.
  • a conventional training apparatus 100 includes a base 101, a motor 102 provided at one end on the base 101, and a cylindrical body that is supported by the motor 102 and rotated in one of forward rotation and reverse rotation.
  • a grip portion (stick) 104 standing on the cylinder 103 a first band 105 provided at the entrance of the cylinder 103, a vertical frame 106 provided at the other end on the base 101, and the vertical frame
  • a front receiving portion 109 and a rear receiving portion 111 that extend from 106 and support the forearm portion 107 and the upper arm portion 108, respectively, and a second band 112 and a third band 113 provided in each of the front receiving portion 109 and the rear receiving portion 111 I have.
  • the wrist 114 is firmly held by the first hand 105, the forearm portion 107 is firmly held by the second band 112, and the upper arm portion 108 is firmly held by the third band 113.
  • forward rotation and reverse rotation are repeated in such a manner that the cylinder 103 is rotated by a predetermined angle by the motor 102 and then rotated to the opposite side by a predetermined angle.
  • the training device 100 disclosed in Patent Document 1 has the following problems. Patients are said to have greater emotional undulations than healthy individuals. During training, the user may be urged to remove his / her arm from the training device 100. However, in the conventional training apparatus 100, since the arm is restrained by the 1st band 105, the 2nd band 112, and the 3rd band 113, an arm cannot be removed by a patient's will. As a result, the patient is stressed and the patient becomes reluctant to train. In order to promote the spread of the training apparatus, a training apparatus that causes less stress on the patient is required.
  • the cylinder 103 is rotated forward and backward by the driving force of the motor 102. Even in a state where the patient has pulled out of the forearm (a state of weakness), the training seems to proceed. However, the training effect cannot be obtained in a state where power is exhausted. There is a need for a training device that can restore function more reliably.
  • An object of the present invention is to provide a training apparatus that is less stressful to a patient and that can restore the function more reliably.
  • Accelerated repetitive therapy means that a therapist (such as a doctor or a medical practitioner) manipulates a patient's paralyzed limbs to pinpoint stimulation to the necessary neural circuits, and performs the targeted movement by stretching the reflexes of the muscles Say to trigger. It is a new rehabilitation method that reinforces and reinforces the necessary neural circuits and accelerates the recovery of paralysis by repeating this action patiently.
  • the term “promotion” refers to a procedure for assisting exercise by giving a stimulus to a desired site so that the patient can easily perform the intended motion.
  • Stretch reflexes must be triggered by pinpoint stimulation in order to induce the target motion of the forearm.
  • pinpoint stretch reflection cannot be easily caused.
  • the first angular velocity of the other dynamic rotation, the rapid acceleration, and the higher second angular velocity are developed in this order to solve the problem. Successful.
  • the invention according to claim 1 is a hemiplegic forearm function recovery training apparatus that trains the forearm part of the paralyzed one to promote recovery in a patient whose body is paralyzed,
  • An apparatus base a half cylinder that is supported by the apparatus base so as to be rotatable about a horizontal axis and whose upper surface is open, and a stick that is provided in the half cylinder and can be grasped by a finger of the forearm,
  • a wrist support provided in the half cylinder for supporting the wrist; a drive shaft having one end connected to the half cylinder and extending horizontally; a servo motor provided in the apparatus base for driving the drive axis;
  • An encoder provided in the servo motor for measuring the rotation angle of the motor shaft, and rotation angle information is acquired from the encoder, and the half cylinder is rotated forward, stopped, reversed, and restarted repeatedly.
  • the first angular velocity, the rapid acceleration, and the second angular velocity higher than the first angular velocity are controlled in order to stimulate the training target muscle that causes the muscle tension and the stretch reflex above.
  • the muscle stimulation is performed.
  • the resistance imparting to maintain connection to muscle tone, and a control unit which forms a series of control hemiplegic forearm rehabilitation device is provided.
  • the wrist support portion is composed of a bracket and left and right curved members that are supported by the bracket via screws and sandwich the wrist, so that the wrist can be pulled upward. It has become.
  • a torque detection mechanism is provided between the half cylinder and the drive shaft so that the torque applied to the stick by the patient at the time of reverse rotation can be detected by this torque detection mechanism. It is characterized by that.
  • the torque detection mechanism includes a rod-shaped member extending from the outer peripheral portion of the half cylinder to the drive shaft, a constricted portion provided in the middle of the rod-shaped member, and a strain attached to the constricted portion. It consists of a gauge and a torque converter for converting strain information from the strain gauge into torque.
  • an extension portion extends from the apparatus base, and a platform for supporting the forearm portion is provided on the extension portion, and an elbow fixing portion for supporting the upper arm portion is attached to the forearm platform. ing.
  • the extension part is connected to the apparatus base via a joint mechanism so as to be horizontally movable and rotatable.
  • the half cylinder is normally rotated, stopped, reversely rotated, and stopped again.
  • the first angular velocity, the rapid acceleration, and the second angular velocity faster than the first angular velocity are used to excite the nerve cells by causing the muscles to reflex by the rapid acceleration change of the muscle stretching tension and the stretching speed for functional recovery.
  • muscle stimulation In reversal, resistance is applied to maintain muscle tone by sustaining muscle stimulation. That is, since the reversal is performed by the patient himself, the recovery of the function of the patient can be promoted.
  • Stretch reflex can induce muscle tone and promote reversal by the patient himself.
  • the wrist can be pulled upward.
  • the patient feels at ease that his arm can be removed from the device at any time. As a result, the patient is no longer stressed and no worries about training.
  • a torque detection mechanism is provided between the half cylinder and the drive shaft, and the torque applied to the stick by the patient at the time of reverse rotation can be detected by this torque detection mechanism.
  • the resistance force at the time of reverse rotation can be corrected based on the torque applied to the stick by the patient at the time of reverse rotation by the torque detection mechanism. That is, a resistance force that matches individual differences among patients can be generated by the servo motor.
  • the torque detection mechanism includes a rod-shaped member having a constricted portion and a strain gauge attached to the constricted portion.
  • a strain gauge is affixed to the outer peripheral surface of the drive shaft, there is a slight amount of distortion, and an error is likely to occur in the measured torque.
  • the elastic deformation of the constricted portion is large, and a strain gauge is attached thereto, so that an error in measurement torque is small.
  • the forearm portion is placed on the forearm mount and the upper arm portion is fitted to the elbow fixing portion, so that the elbow is stabilized.
  • the extension part provided with the forearm mount and the elbow fixing part is connected to the apparatus base through the joint mechanism so as to be horizontally movable and rotatable, the patient puts the elbow during training. The place can be moved horizontally. As a result, the muscles to be recovered are well stretched in advance.
  • FIG. 4 is a sectional view taken along line 4 of FIG. 1.
  • FIG. 5 is a sectional view taken along line 5 in FIG. 1.
  • FIG. 7 is a cross-sectional view taken along line 7-7 in FIG. It is a front view of a wrist support part. It is an effect
  • operation figure of a hemiplegia forearm function recovery training apparatus It is an effect
  • FIG. 19 It is a figure explaining the effect
  • the hemiplegic forearm function recovery training apparatus 10 includes a moving table 12 including casters (universal wheels) 11, a forearm mounting table 13 provided at one end on the moving table 12, and a moving table 12.
  • the apparatus base 14 provided on the upper side, the half cylinder 15 that is supported by the apparatus base 14 so as to be rotatable around a horizontal axis and the upper surface is opened, and the stick 16 provided in the half cylinder 15
  • the rotation angle information is obtained from the encoder 23, and the half cylinder 15 is rotated forward, stopped in the left and right directions, stopped, and rotated reversely, and the torque applied to the stick 16 is calculated and sent to the control unit 24
  • the conversion part 25 is provided.
  • the control unit 24 repeatedly acquires the rotation angle information from the encoder 23, rotates the half cylinder 15 forward and backward in one direction, stops, reverses, and restarts.
  • the first angular velocity, the rapid acceleration, and the first angular velocity faster than the first angular velocity In order to excite the nerve cell by causing the muscle stretching reflex by the rapid acceleration change of the stretching tension and stretching speed of the muscle for functional recovery, in the normal rotation, the first angular velocity, the rapid acceleration, and the first angular velocity faster than the first angular velocity.
  • the speed is switched so as to give muscle stimulation at two angular speeds.
  • the rotation is stopped for several tens of milliseconds from the end of the forward rotation until the reverse of the forearm starts to move due to stretch reflection.
  • reversal provides resistance.
  • the movable table 12 is a simple table. As long as it is a table, an appropriate table or desk can be used instead of the table, so whether or not the movable table 12 is arranged under the apparatus base 14 is arbitrary. However, since the servo motor 21 and the encoder 23 are heavy, it is recommended that the apparatus base 14 and the movable table 12 be integrated as in this embodiment in order to reduce the human burden.
  • the half cylinder 15 has a notch ratio of 50%.
  • the notch ratio of the half cylinder 15 can be changed, and it is sufficient that a part of the cylinder is notched. That is, the notch ratio of the half cylinder 15 is not limited to 50%.
  • the material of the half cylinder 15 is basically a cylinder, but may be a polygonal cylinder.
  • a torque detection mechanism 60 is provided between the half cylinder 15 and the drive shaft 18.
  • the movable base 12 includes a main base portion 27 supported by four columns 26, and a sub-base portion 29 extending from the main base portion 27 and having a tip supported by a single column 28. It has.
  • the sub-base portion 29 is elongated and has spaces 31 and 32 on the left and right sides thereof. A patient can enter one of the space 31 and the space 32. It is preferable to reduce the weight of the movable table 12 by configuring the columns 26 and 28 with lightweight section steel, specifically, an aluminum sash.
  • the other constituent elements are the same as those in FIG.
  • the half cylinder 15 has an open top surface. As shown in FIG. 4, the half cylinder 15 is supported by the first cam follower 31 and the second cam follower 32 so as to be rotatable around the horizontal axis. Further, as shown in FIG. 5, the half cylinder 15 is supported by the third cam follower 33, the fourth cam follower 34, and the fifth cam follower 35 so as to be rotatable around the horizontal axis.
  • the central fourth cam follower 34 can be removed.
  • Each of the cam followers 31 to 35 is an assembly composed of a support shaft, a needle bearing attached to the shaft, and a roller surrounding the needle bearing.
  • the cam follower 31 to 35 may be a so-called free roller (free rotation roller). Is optional.
  • the drive shaft 18 is coupled to the motor shaft 22 of the servomotor 21 via a coupling 36.
  • a belt-like bar member 38 extending upward is fixed to the drive shaft 18 at the tip.
  • an angular shaft portion 39 is formed on the tip side from the rod-shaped member 38.
  • a male screw portion 41 is formed on the drive shaft 18 on the tip side from the angular shaft portion 39.
  • a disc 42 is fixed to one end of the half cylinder 15, and a square hole 43 is provided in the disc 42.
  • the square shaft portion 39 is fitted into the square hole 43.
  • a nut 44 is attached to the male screw portion 41.
  • the drive shaft 18 is connected to the half cylinder 15 and the half cylinder 15 is positioned in the axial direction. That is, there is no concern that the half cylinder 15 moves in the axial direction during rotation.
  • the drive shaft 18 is rotatably supported by a pair of bearing bases 19.
  • a key 45 is fixed to the drive shaft 18 between the bearing base 19 and the bearing base 19.
  • the stopper block 46 is fixed to the apparatus base 14 between the bearing base 19 and the bearing base 19.
  • the stopper block 46 includes stop surfaces 47 and 48 on the upper surface, and these stop surfaces 47 and 48 are disposed below the drive shaft 18.
  • the key 45 is on the drive shaft 18.
  • the drive shaft 18 is rotated 90 degrees left and right from the neutral position, a total of 180 degrees. That is, the key 45 moves to the position indicated by the imaginary line.
  • the wrist support portion 17 includes a channel-shaped bracket 49 opened upward, and left and right sides sandwiching the wrist supported by screws 51, 52 on the wall portions 51, 51 of the bracket 49.
  • the bending members 53 and 54 are provided.
  • the screw 52 can be turned with the finger bar 55.
  • training is performed in a state where the wrist 56 is sandwiched between the left and right curved members 53 and 54 via the cushions 57 and 57, but the bracket 49 and the left and right curved members 53 and 54 are Since the upper part is open, the wrist 56 can be pulled out as shown by the arrow if the patient desires. That is, the feeling of pressure and restraint is reduced by the amount rich in the feeling of opening, and more preferable training can be performed.
  • the patient needs to train the left hand, for example, and places the wrist 56 on the wrist support portion 17 and the forearm portion 58 on the forearm mount 13.
  • Turning the left wrist 56 viewed from the patient to the center of the body as indicated by the arrow (1) is called “pronation” and turning outward as indicated by the arrow (2) is called “extraversion”. Call.
  • the wrist is not shown because the drawing becomes complicated, but it is in a neutral state, and training can be started from this state.
  • the servo motor 21 performs other dynamic rotational motion. Specifically, as shown in FIG. 12, first, the other dynamic rotational motion is performed at the first angular velocity, the rapid acceleration is performed, and the other dynamic rotational motion is performed at the second angular velocity.
  • the first angular velocity is 2.5 radians / second
  • the second angular velocity is 11.0 radians / second. That is, the second angular velocity is about 2 to 5 times the first angular velocity.
  • the stimulation is enhanced by a rapid acceleration change in the stretching speed and the stretching speed of the muscle that quickly rotates at the rapid acceleration and the second angular speed to restore the function.
  • stretch reflexes are excited by muscle stimulation. Due to this stretch reflex, the contraction of the muscle is promoted, and as shown in FIG. However, a slight resistance force is generated by the servo motor 21 in order to maintain muscle tone by sustaining muscle stimulation.
  • the present invention includes a torque detection mechanism for this purpose.
  • the shaft torque can be detected by attaching a strain gauge to the drive shaft 18.
  • a strain gauge to the drive shaft 18.
  • the amount of torsion of the shaft is small, so that measurement is difficult and measurement error increases.
  • a torque detection mechanism with good measurement accuracy is employed.
  • the torque detection mechanism 60 includes a pin 61 erected on the outer periphery of the disc 42 so as to extend to the drawing table, and a rod-like member that has one end fitted on the pin 61 and extends to the rotation center of the disc 42. 38, a constricted portion 62 provided in the middle of the rod-shaped member 38, a strain cage 63 attached to the constricted portion 62, and a torque converting portion 25 for converting strain information obtained by the strain cage 63 into torque. I have.
  • One end of the rod-shaped member 38 is fitted into the pin 61 through a long hole 64 extending in the longitudinal direction of the rod-shaped member 38, thereby allowing the rod-shaped member 38 to move relative to the pin 61. Further, the other end of the rod-shaped member 38 is sandwiched by another angular shaft portion 67 of the drive shaft 18 with flanges 65 and 66.
  • the rod-shaped member 38 may be a round bar or a square bar in addition to the band plate, and the shape is arbitrary. However, since the width of both ends of the band plate is large, one end can be easily attached to the disc 42 by using this width, and the other end can be easily attached to the drive shaft 18.
  • torque Tm is applied to the disc 42 through the stick 16 by automatic rotational movement.
  • the strain cage 63 is provided only on the rod-shaped member 38.
  • the rod-shaped member 38 bends in a dogleg shape with the constricted portion 62 as a bending point due to the torque Ts.
  • the torque Ts can be calculated structurally.
  • the length from the bending point to the drive shaft 18 is L1
  • the length from the bending point to the pin 61 is L2
  • the length of the constricted portion 62 is Lx
  • the width of the constricted portion 62 is b.
  • the thickness of the constricted part 62 (drawing front and back dimensions) is h.
  • E be the longitudinal elastic modulus (Young's modulus) of the constricted portion 62.
  • the drive shaft 18 has a length LL and a diameter R. Further, the lateral elastic modulus of the drive shaft 18 is G.
  • the torque Ta is a function of Ts as shown below.
  • the torque conversion unit 25 obtains the torque Tm based on the strain information obtained by the strain gauge 63. Resistive torque is generated by the servo motor 21 in accordance with the torque Tm. If an appropriate amount of resistance is applied during the automatic rotational movement, the patient's forearm can sustain stimulation and maintain muscle tone, and can rotate more greatly.
  • the magnitude of the resistance force is determined by adjusting the value of C.
  • the resistance torque can be determined by adjusting K1 and K2.
  • the resistance torque Tn is set to an appropriate value.
  • the first angular velocity, the rapid acceleration, and the second angular velocity shown in FIG. 12 are set, and the above-described resistance torque is set, and then training is performed in the following cycle.
  • the other dynamic rotation motion is defined as a minus ( ⁇ ) region.
  • the other dynamic rotation motion including the first angular velocity, the rapid acceleration, and the second angular velocity is performed. That is, the patient's forearm is rotated by the servo motor. At this time, muscle tension increases due to the rapid acceleration and the second angular velocity.
  • the drive by the servo motor is stopped. Then, the patient tries to turn the forearm in the reverse direction at his own will (corresponding to an automatic rotational movement).
  • light resistance is applied by a servo motor after the point P1.
  • the angular velocity is-(minus) due to the inertia so far, but the angular velocity is suddenly decreased by the end of the other dynamic rotation and turns to + (plus).
  • the rotation becomes slow, and finally the angular velocity becomes zero.
  • the control unit (FIG. 1, reference numeral 24) repeats this cycle several tens of times, with one cycle consisting of the other dynamic rotational motion during forward rotation and the automatic rotational motion during reverse rotation.
  • the automatic rotational motion is caused after the other dynamic rotational motion including the first angular velocity, the rapid acceleration, and the second angular velocity.
  • the maximum angular velocity ⁇ a ⁇ max in the automatic rotational motion was about 6 radians / second. Further, since the product of the angular velocity and time becomes an angle, an integral value, that is, an area Sa surrounded by the curve and the time axis becomes a rotation angle.
  • the automatic rotational motion is caused after the other dynamic rotational motion including only the first angular velocity.
  • the maximum angular velocity ⁇ b ⁇ max in the automatic rotational motion was about 3 radians / second.
  • An area Sb surrounded by the curve and the time axis is a rotation angle.
  • the maximum angular velocity ⁇ a ⁇ max in the example is 4.5 to 7.0 radians / second
  • the maximum angular velocity ⁇ b ⁇ max in the comparative example is 2.5 to 5 .2 radians / second.
  • the maximum rotation angle Sa in the example is 1.9 to 2.0 radians
  • the maximum rotation angle Sb in the comparative example is 1.65 to 1.75 radians. there were.
  • FIG. 19 is a side view showing a modified example of the hemiplegic forearm function recovery training device 10 shown in FIG. Changes to FIG. 1 are as follows, and the others are the same as those in FIG. 1, and thus the reference numerals in FIG.
  • the first change is that a joint mechanism 70 is provided on the apparatus base 14, and an extension portion 71 extends from the joint mechanism 70. 13 is attached.
  • the joint mechanism 70 includes tongue pieces 14a and 14b extending horizontally from the device base 14, tongue pieces 71a and 71b extending from the extension portion 71 so as to overlap the tongue pieces 14a and 14b, and along the vertical line. And a connecting pin screw 72 extending.
  • the tongue piece 71b is inserted between the tongue pieces 14a and 14b, and the tongue piece 71a is placed along the upper surface of the tongue piece 14a. In this state, the tongue pieces 71 a and 71 b are connected to the tongue pieces 14 a and 14 b by the connecting pin screw 72.
  • the extension portion 71 can turn horizontally when the screw is loosened with the connecting pin screw 72 as the center of rotation. Further, when the connecting pin screw 72 is tightened, the pivoted angle can be fixed.
  • the second change is that an elbow fixing member 75 is attached to the forearm mount 13.
  • the elbow fixing member 75 includes a U-shaped member 76 and a connecting member 77 that connects the U-shaped member 76 to the forearm mount 13.
  • the forearm portion 58 is placed on the forearm mount 13, and the upper arm portion 78 is fitted to the U-shaped member 76.
  • the hemiplegic forearm function recovery training device 10 includes an electrode 81 for applying electrical stimulation to the forearm 58 and a vibrator 82 for applying mechanical vibration to the forearm 58.
  • an electrode 81 for applying electrical stimulation to the forearm 58 and a vibrator 82 for applying mechanical vibration to the forearm 58.
  • a doctor or a medical practitioner rubs the patient's forearm 58 while rotating the patient's forearm 58 with the fingertips.
  • electrical stimulation and vibration stimulation are applied to the forearm portion 58 to stimulate the muscle.
  • the vibration stimulus is given only from the start of the second speed of the other dynamic rotational motion to the end of the automatic rotational motion. Electrical stimulation is given continuously during training. The strength of the electrical stimulation is set so as not to exceed the joint motion threshold.
  • FIG. 20 is an operation explanatory diagram of the hemiplegic forearm function recovery training device 10 and the joint mechanism 70 described in FIG.
  • the forearm portion 58 is rotated outwardly by an angle ⁇ 1 by an articulation mechanism 70 that connects the forearm mount 13 and the extension portion 71 during an automatic pronation motion with the right arm, and an angle ⁇ 1 is obtained.
  • the progenitor muscle to be fixed and recovered can be in a state of being well stretched in advance.
  • the forearm portion 58 is internally inverted by the angle ⁇ 2 by the joint mechanism 70 during the automatic supination movement, and is fixed at the angle ⁇ 2, and the supination muscle to be recovered is sufficiently stretched in advance. be able to.
  • training should be done with the stretched muscles stretched well.
  • the muscle to be restored is well stretched in advance, and stretch reflection can be caused more efficiently.
  • FIG. 21 is a diagram showing a modification of the operation of the control unit shown in FIG. FIG. 15 is different from FIG. 15 in that an extended reflection waiting time is placed immediately after the point P1, and the other points are the same as those in FIG.
  • an extended reflection waiting time is placed immediately after the point P1, and the other points are the same as those in FIG.
  • FIG. 22 is a side view showing a modified example of the hemiplegic forearm function recovery training device shown in FIG.
  • the hemiplegic forearm function recovery training device 10 is a table-type device.
  • the hemiplegic forearm function recovery training device 10 is placed on a desk 84 having a flat upper surface and fixed by clampers 85, 85.
  • As the desk 84 a commercially available office desk or work desk is sufficient. Since it is a tabletop type, the hemiplegic forearm function recovery training device 10 becomes lighter and can be easily transported and installed.
  • FIG. 23 is a side view showing a further modified example of the hemiplegic forearm function recovery training device shown in FIG. 19.
  • the coupling 36 and the servo motor 21 shown in FIG. 19 are arranged below the apparatus base 14 in FIG.
  • a first drive shaft 18A coaxial with the motor shaft 22 is disposed under the apparatus base 14, and a first pulley 86 is attached to the tip of the first drive shaft 18A.
  • a second drive shaft 18B is provided on the apparatus base 14, and a second pulley 87 is attached to the second drive shaft 18B.
  • the belt 88 was passed to the first pulley 86 and the second pulley 87.
  • the longitudinal dimension L3 of the hemiplegic forearm function recovery training device 10 was significantly reduced.
  • the pulleys 86 and 87 and the belt 88 may be sprockets and chains. Alternatively, the type is not limited as long as it is a transmission mechanism that connects the first drive shaft 18A and the second drive shaft 18B.
  • FIG. 24 is a diagram showing a further modification of the hemiplegic forearm function recovery training device shown in FIG. As shown in FIG. 24, in order to prevent the extension portion 71 from bending, a column 28A is provided at the tip of the extension portion 71, and a caster 11A is provided under the column 28A.
  • the tongue pieces 14 a and 14 b are provided with elongated holes extending along the extending direction of the extension portion 71. By providing the long hole, the distance between the stick 16 and the forearm mount 13 can be changed according to the length of the forearm portion 58.
  • the elongated holes may be provided on the tongue pieces 71a and 71b side. Also in FIG. 1, a slide mechanism may be provided on the horizontal frame of the movable table 12 to change the distance between the stick 16 and the forearm platform 13.
  • the forearm mount 13 is attached to the extension 71 so as to be movable up and down.
  • the screw When the screw is loosened with the lever 73, it can be moved upward or downward, and is fixed when the screw is tightened.
  • the connecting member 77 includes a lower member 77a, an upper member 77b, and a screw 79.
  • the screw 79 When the screw 79 is loosened, the upper member 77b is inclined in the drawing front and back direction with respect to the lower member 77a.
  • the screw 79 By tightening the screw 79, the upper member 77b can be fixed to the lower member 77a.
  • the position of the U-shaped member 76 can be adjusted to the left and right posture of the upper arm portion 78.
  • the torque detection mechanism according to claim 3 may be one in which a strain gauge is directly attached to the drive shaft.
  • the present invention is suitable for a training device that trains the forearm of a patient who is paralyzed in either the left or right half and promotes recovery.
  • SYMBOLS 10 Hemiplegic forearm function recovery training apparatus, 14 ... Device base, 15 ... Half cylinder, 16 ... Stick, 17 ... Wrist support part, 18 ... Drive shaft, 19 ... Bearing stand, 21 ... Servo motor, 22 ... Motor Shaft, 23 ... encoder, 24 ... control unit, 25 ... torque conversion unit, 38 ... rod-shaped member, 49 ... bracket, 52 ... screw, 53, 54 ... curved member, 58 ... forearm portion, 60 ... torque detection mechanism, 62 ... Constriction part, 63 ... strain gauge, 70 ... joint mechanism, 71 ... extension part, 75 ... elbow fixing part, 78 ... upper arm part.

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif (10) d'entraînement de récupération de fonction d'avant-bras hémiplégique, qui comprend : un poteau (16) tenu par un patient ; une partie support de poignet (17) qui soutient le poignet du patient ; et un servomoteur (21) qui amène le poteau et la partie support de poignet à tourner dans une direction normale, à s'arrêter, à tourner dans une direction inverse et à s'arrêter de nouveau, et qui répète ces actions.
PCT/JP2013/083068 2012-12-14 2013-12-10 Dispositif d'entraînement de récupération de fonction d'avant-bras hémiplégique Ceased WO2014092076A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2014552045A JP6210644B2 (ja) 2012-12-14 2013-12-10 片麻痺前腕機能回復訓練装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012273334 2012-12-14
JP2012-273334 2012-12-14

Publications (1)

Publication Number Publication Date
WO2014092076A1 true WO2014092076A1 (fr) 2014-06-19

Family

ID=50934364

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/083068 Ceased WO2014092076A1 (fr) 2012-12-14 2013-12-10 Dispositif d'entraînement de récupération de fonction d'avant-bras hémiplégique

Country Status (2)

Country Link
JP (1) JP6210644B2 (fr)
WO (1) WO2014092076A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105520820A (zh) * 2016-01-11 2016-04-27 上海交通大学 一种三自由度腕功能康复机器人
JP2016101497A (ja) * 2014-11-17 2016-06-02 国立大学法人 鹿児島大学 無水平負荷式上肢自重免荷訓練装置
CN108836750A (zh) * 2018-07-06 2018-11-20 张志军 主被动两用式手指康复训练装置
CN109925677A (zh) * 2019-03-28 2019-06-25 安徽中科裕田智能科技有限公司 一种智能化上肢肌肉力量超等长训练设备
JP2020028511A (ja) * 2018-08-23 2020-02-27 株式会社安川電機 運動機能回復訓練装置
CN112494273A (zh) * 2020-11-27 2021-03-16 山东海天智能工程有限公司 一种脑控手腕训练的控制装置、方法及系统
CN113577703A (zh) * 2021-07-14 2021-11-02 孙勇 一种康复科用具有松紧调节功能的握力恢复训练装置
CN115227548A (zh) * 2022-07-28 2022-10-25 常州大学 一种三自由度上肢康复装置
US11583463B2 (en) 2017-08-31 2023-02-21 Kagoshima University Hemiplegic forearm function recovery training device and method
CN116407427A (zh) * 2023-04-14 2023-07-11 中国人民解放军总医院第二医学中心 一种手臂骨折后康复的辅助装置
CN116649912A (zh) * 2023-06-13 2023-08-29 天津市环湖医院(天津市神经外科研究所、天津市脑系科中心医院) 一种智能化高分辨率的上肢本体感觉评估训练装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04261657A (ja) * 1991-02-15 1992-09-17 Masaki Takahashi 前腕用回旋運動器
US6506172B1 (en) * 2000-10-10 2003-01-14 Dynasplint Systems, Inc. Supinator/pronator therapy system to bring mobility to wrist, forearm and/or elbow
JP2003526470A (ja) * 2000-03-14 2003-09-09 オーサーハブ インコーポレーテッド 回内／回外・屈曲両用治療運動装置
JP3884077B2 (ja) * 1995-11-20 2007-02-21 オーサーハブ インコーポレーテッド 関節のための連続的受動運動装置
WO2009150854A1 (fr) * 2008-06-12 2009-12-17 株式会社フィジオン Dispositif d'entraînement pour une série de mouvements articulaires
JP2010529874A (ja) * 2007-06-12 2010-09-02 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ 前腕回転機構および該機構を含む矯正器
JP2011056079A (ja) * 2009-09-10 2011-03-24 Kagoshima Univ 片麻痺指機能回復訓練装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04261657A (ja) * 1991-02-15 1992-09-17 Masaki Takahashi 前腕用回旋運動器
JP3884077B2 (ja) * 1995-11-20 2007-02-21 オーサーハブ インコーポレーテッド 関節のための連続的受動運動装置
JP2003526470A (ja) * 2000-03-14 2003-09-09 オーサーハブ インコーポレーテッド 回内／回外・屈曲両用治療運動装置
US6506172B1 (en) * 2000-10-10 2003-01-14 Dynasplint Systems, Inc. Supinator/pronator therapy system to bring mobility to wrist, forearm and/or elbow
JP2010529874A (ja) * 2007-06-12 2010-09-02 コミッサリア ア レネルジー アトミーク エ オ ゼネルジ ザルタナテイヴ 前腕回転機構および該機構を含む矯正器
WO2009150854A1 (fr) * 2008-06-12 2009-12-17 株式会社フィジオン Dispositif d'entraînement pour une série de mouvements articulaires
JP2011056079A (ja) * 2009-09-10 2011-03-24 Kagoshima Univ 片麻痺指機能回復訓練装置

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
YONG YU ET AL.: "Katamahi Zenwan Kino Kaifuku Kunren Sochi no Kenkyu", ROBOTICS MECHATRONICS KOENKAI 2012 KOEN RONBUNSHU, no. 12-3, 27 May 2012 (2012-05-27) *
YONG YU ET AL.: "Torque Sensing of Finger Joint Using Strain-Deformation Expansion Mechanism", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 20, no. 5, 15 July 2002 (2002-07-15), pages 528 - 536 *

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016101497A (ja) * 2014-11-17 2016-06-02 国立大学法人 鹿児島大学 無水平負荷式上肢自重免荷訓練装置
CN105520820A (zh) * 2016-01-11 2016-04-27 上海交通大学 一种三自由度腕功能康复机器人
US11583463B2 (en) 2017-08-31 2023-02-21 Kagoshima University Hemiplegic forearm function recovery training device and method
CN108836750A (zh) * 2018-07-06 2018-11-20 张志军 主被动两用式手指康复训练装置
CN108836750B (zh) * 2018-07-06 2020-12-25 韩海霞 主被动两用式手指康复训练装置
JP2020028511A (ja) * 2018-08-23 2020-02-27 株式会社安川電機 運動機能回復訓練装置
JP7475620B2 (ja) 2018-08-23 2024-04-30 オージー技研株式会社 運動機能回復訓練装置
CN109925677A (zh) * 2019-03-28 2019-06-25 安徽中科裕田智能科技有限公司 一种智能化上肢肌肉力量超等长训练设备
CN112494273A (zh) * 2020-11-27 2021-03-16 山东海天智能工程有限公司 一种脑控手腕训练的控制装置、方法及系统
CN113577703B (zh) * 2021-07-14 2022-10-28 陈志成 一种康复科用具有松紧调节功能的握力恢复训练装置
CN113577703A (zh) * 2021-07-14 2021-11-02 孙勇 一种康复科用具有松紧调节功能的握力恢复训练装置
CN115227548A (zh) * 2022-07-28 2022-10-25 常州大学 一种三自由度上肢康复装置
CN116407427A (zh) * 2023-04-14 2023-07-11 中国人民解放军总医院第二医学中心 一种手臂骨折后康复的辅助装置
CN116649912A (zh) * 2023-06-13 2023-08-29 天津市环湖医院(天津市神经外科研究所、天津市脑系科中心医院) 一种智能化高分辨率的上肢本体感觉评估训练装置

Also Published As

Publication number Publication date
JPWO2014092076A1 (ja) 2017-01-12
JP6210644B2 (ja) 2017-10-11

Similar Documents

Publication Publication Date Title
JP6210644B2 (ja) 片麻痺前腕機能回復訓練装置
JP6657083B2 (ja) 麻痺機能回復訓練装置
US7850579B2 (en) Bilateral arm trainer and method of use
KR102018566B1 (ko) 상지 재활을 위해 엔드 이펙터 타입의 재활로봇과 연결가능한 재활 로봇
US9123256B2 (en) Training device
US10123929B2 (en) Wrist and forearm exoskeleton
CN102764188B (zh) 一种可控变刚度柔性肘关节康复机器人
US11266876B2 (en) Ankle muscle resistance-training apparatus
CN105726263A (zh) 一种穿戴式手部外骨骼康复训练机器人
WO2006070486A1 (fr) Appareil d’entrainement
US10470961B2 (en) Multifunctional apparatus for passive physical rehabilitation
JP6061300B2 (ja) 片麻痺運動機能回復訓練装置を用いた訓練効果評価方法、および訓練効果評価演算装置、ならびにプログラム
KR102338936B1 (ko) 신경계 질환 및 근골격계 질환용 수부 재활장치
CN111991767A (zh) 一种多功能下肢康复训练装置
WO2013084966A1 (fr) Dispositif pour mesurer la spasticité
JP6512704B2 (ja) 片麻痺運動機能回復訓練装置およびプログラム
CN110974626A (zh) 一种手臂康复辅助机器人
WO2009150854A1 (fr) Dispositif d'entraînement pour une série de mouvements articulaires
KR20150049848A (ko) 노약자 및 장애인 근력회복을 위한 주관절 재활장치
CN112057298B (zh) 一种手臂骨折术后康复装置
EP4208140B1 (fr) Appareil de rééducation pour thérapie de poignet et d'avant-bras
CN119818339A (zh) 一种神经内科用肢体功能锻炼装置
CN119424156A (zh) 一种颈椎疼痛辅助治疗装置
JP2002263214A (ja) 腰部用ストレッチャー

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13863149

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
ENP Entry into the national phase

Ref document number: 2014552045

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13863149

Country of ref document: EP

Kind code of ref document: A1