JP6966409B2 - Drive device and rehabilitation support system - Google Patents

Description

The present disclosure generally relates to a drive device and a rehabilitation support system, and more particularly to a drive device and a rehabilitation support system that move a part of the subject's body.

Patent Document 1 discloses a conventional rehabilitation device that is attached to a subject's hand and arm to rehabilitate the subject's fingers. The rehabilitation device described in Patent Document 1 has a metacarpal fixing portion for fixing the palm, a proximal phalanx fixing portion for fixing the proximal phalanx of the finger excluding the thumb of the user, and an intermediate phalanx for fixing the middle phalanx of the finger. It has a fixed part. Further, in this rehabilitation device, as these drive sources, a first servomotor that rotates the proximal phalanx fixing portion with respect to the middle phalanx fixing portion and a second servomotor that rotates the intermediate phalanx fixing portion with respect to the proximal phalanx fixing portion. It is equipped with two servo motors.

The rehabilitation device described in Patent Document 1 can move the fingers by the power from the first servomotor and the second servomotor, and can rehabilitate the user.

Japanese Unexamined Patent Publication No. 2013-17718

However, in this conventional rehabilitation device, for example, when a garment or a part of the body is caught between the proximal phalanx fixing portion and the middle hand fixing portion, the proximal phalanx fixing portion or the middle hand fixing portion is usually used. There was a possibility that the operation of the proximal phalanx fixing part would continue even when a force different from that at the time of use was applied.

The present disclosure has been made in view of the above circumstances, and an object of the present invention is to provide a drive device and a rehabilitation support system that can easily prevent the mounting portion from continuing to operate when a force different from that during normal use is applied. do.

The drive device according to one aspect of the present disclosure includes a drive source, a mounting portion, and a transmission mechanism. The drive source generates power. A part of the body of the subject is placed on the mounting portion, and a force is received from the part of the body in the first direction. The transmission mechanism transmits the power generated by the drive source to the mounting portion, and moves the mounting portion in a second direction facing the first direction. The transmission mechanism has a cutoff mechanism that cuts off the transmission of the power to the mounting portion when a load is applied in the second direction.

The rehabilitation support system according to one aspect of the present disclosure includes the above-mentioned drive device, an electrode unit, and a control device. The electrode portion is arranged at a measurement point which is a part of the head of the subject, and the brain wave of the subject is collected. The control device controls the drive device according to the brain wave collected at the electrode portion.

The drive device and the rehabilitation support system according to the above aspect of the present disclosure have an advantage that it is easy to prevent the mounting portion from continuing to operate when a force different from that during normal use is applied.

FIG. 1 is a schematic diagram showing a usage state of the drive device according to the first embodiment and the rehabilitation support system provided with the drive device. FIG. 2 is a schematic front view showing a usage state of the headset of the same rehabilitation support system. FIG. 3 is a block diagram showing the configuration of the same rehabilitation support system. FIG. 4 is a perspective view of the drive device of the same as above. FIG. 5 is an exploded perspective view of the drive device of the same as above. FIG. 6 is a plan view of the frame of the drive device of the same as above. FIG. 7A is a cross-sectional view illustrating the movement of a path member and a linear member of the same drive device. FIG. 7B is a plan view of the configuration in the vicinity of the first pulley. FIG. 7C is a plan view of the configuration in the vicinity of the bent portion. FIG. 8A is a side view showing a state in which the arm of the drive device of the above is contracted. FIG. 8B is a side view showing a state in which the arm of the hand driving device of the same as above is extended. FIG. 9A is a perspective view of a main part of the drive device as described above, and the imaginary line shows a state in which the movable part is rotated from the first position. FIG. 9B is a perspective view of a main part of the drive device as described above, and the imaginary line shows a state in which the finger rest portion is rotated. FIG. 10 is a front view of the movable portion of the drive device as seen from the front to the rear of the movable portion. 11A, 11B, and 11C are explanatory views showing a state in which the movable portion moves when the finger of the subject is located between the frame and the finger rest portion. FIG. 12 is an exploded perspective view of the transmission mechanism of the modified example. 13A and 13B are side views showing the operation of the arm and the transmission mechanism of the modified example. 14A, 14B, and 14C are side views showing the operation of the movable portion when an inclusion is sandwiched between the arm and the frame when the arm of the modified example moves in the second rotation direction. 15A, 15B, and 15C are side views showing an operation when the temporary holding mechanism of the modified example is released from the connected state and then returned to the connected state.

(Embodiment 1)
(1) Outline In explaining the drive device 6 according to the present embodiment, first, the outline of the rehabilitation support system 100 using the drive device 6 will be described with reference to FIGS. 1 to 3.

The rehabilitation support system 100 according to the present embodiment is for rehabilitation by exercise therapy, for example, for a person who has motor paralysis or deterioration of motor function in a part of the body due to a brain disease such as a stroke or an accident. To support. In such a subject 5, the voluntary movement, which is a movement performed by the subject 5 based on his / her own intention or intention, may not be satisfactory due to impossibility or deterioration of its function. The term "exercise therapy" as used in the present disclosure refers to a disorder caused by exercising a part of the body of the subject 5 in which such voluntary movement is incapable or a part in which the function is deteriorated (hereinafter referred to as "disordered part"). It means a method for recovering the function of voluntary movements for a part.

In this embodiment, a case where the rehabilitation support system 100 is used for rehabilitation of the left finger 53 (left finger) of the subject 5 is illustrated. That is, in the subject 5 in this case, the left finger is the disordered part. However, the present invention is not limited to this example, and the rehabilitation support system 100 may be used, for example, for rehabilitation of the right finger of the subject 5.

In the rehabilitation support system 100, when the subject 5 performs a voluntary movement with the left finger 53, the exercise assist device 3 attached to the subject 5's left hand provides mechanical stimulation and electricity to the subject 5's left hand. Assist voluntary movements by adding at least one of the stimuli. As a result, for example, in the same manner as when a medical staff such as a physical therapist or an occupational therapist assists the voluntary movement of the subject 5 by holding the hand 53 of the subject 5, the voluntary movement is performed by the rehabilitation support system 100. Assistance becomes possible. Therefore, according to the rehabilitation support system 100, it is possible to realize rehabilitation by exercise therapy, which is more effective than the case where the subject 5 performs voluntary exercise alone, as in the case where the medical staff assists.

The rehabilitation support system 100 according to the present embodiment includes an electroencephalogram measurement system 10, an exercise assist device 3, and a control device 4.

The electroencephalogram measurement system 10 is a system for measuring the electroencephalogram of the subject 5, and the electroencephalogram collected by the electrode portion 11 arranged at the measurement point 51 which is a part of the head 52 of the subject 5. Acquire the representative brain wave information. The "electroencephalogram" (EEG) referred to in the present disclosure means a waveform obtained by deriving an electrical signal (action potential) emitted by a nerve cell (group) of the cerebrum to the outside of the body and recording it. In the present disclosure, unless otherwise specified, the supracellar EEG is recorded by using the electrode portion 11 attached to the body surface, targeting the overall action potential of a large number of neurons (nerve network) in the cerebral cortex. Is called "brain wave".

The electroencephalogram measurement system 10 includes a headset 1 having an electrode portion 11 and an information processing device 2. As shown in FIG. 2, the headset 1 is attached to the head 52 of the subject 5 in a state where the electrode portion 11 is in contact with the surface (scalp) of the head 52 of the subject 5. In the present disclosure, the electrode portion 11 comes into contact with the surface of the head 52 by being placed on a paste (electrode glue) applied to the surface of the head 52. At this time, the electrode portion 11 comes into contact with the surface of the head 52 without passing through the hair by scraping the hair. Of course, the electrode portion 11 may be in direct contact with the surface of the head 52 without applying the paste. That is, in the present disclosure, "contacting the electrode portion 11 with the surface of the head 52" means that the electrode portion 11 is brought into direct contact with the surface of the head 52, and the electrode portion 11 is brought into contact with the surface of the head 52 via an intermediate. It also includes indirect contact with the surface of the head 52. The intermediate is not limited to the paste, and may be, for example, a conductive gel.

The headset 1 measures the brain wave of the subject 5 by measuring the action potential of the brain of the subject 5 at the electrode unit 11, and generates brain wave information representing the brain wave. The headset 1 transmits brain wave information to the information processing apparatus 2 by, for example, wireless communication. The information processing apparatus 2 performs various processes on the electroencephalogram information acquired from the headset 1 and displays the electroencephalogram information.

The control device 4 controls the exercise assist device 3 based on the electroencephalogram information acquired by the electroencephalogram measurement system 10.

The exercise assist device 3 is a device that assists the exercise of the subject 5 by giving at least one of a mechanical stimulus and an electrical stimulus to the subject 5. As shown in FIG. 3, the exercise assist device 3 has a drive device 6 and an electrical stimulus generator 32.

The drive device 6 is a device that holds a part of the body of the subject and moves the part of the body by applying a mechanical stimulus (external force) to the part of the body. The drive device 6 according to the present embodiment is a finger drive device 60 that moves the second to fifth fingers, which are a part of the body. Hereinafter, in the present embodiment, the hand driving device 60 will be described as an example of the driving device 6.

The finger driving device 60 holds four fingers 53 (second to fifth fingers) excluding the first finger 54 (thumb), and applies mechanical stimulation (external force) to these four fingers 53. It is a device that moves four fingers 53. The finger driving device 60 will be described in detail in the column of “(2.1) Finger driving device”.

The electrical stimulus generator 32 is a device that gives an electrical stimulus to a portion for moving the finger 53 of the subject 5. Here, the site for moving the finger 53 of the subject 5 includes a site corresponding to at least one of the muscle and the nerve of the finger 53 of the subject 5. For example, the part for moving the finger 53 of the subject 5 is a part of the arm of the subject 5. The electrical stimulus generator 32 includes, for example, a pad attached to the body (eg, arm) of the subject 5. The electric stimulus generator 32 gives a stimulus to a site for moving the finger 53 by applying an electric stimulus (current) to the body of the subject 5 from the pad.

By the way, in order to support the rehabilitation as described above, the rehabilitation support system 100 may assist the voluntary movement of the subject 5 with the exercise assist device 3 when the subject 5 intends to perform the voluntary movement. desirable. The rehabilitation support system 100 interlocks the exercise assist device 3 with the brain wave (electroencephalogram information) of the subject 5 measured by the brain wave measurement system 10, so that the subject 5 assists in exercise when he / she tries to perform a voluntary movement. The assistance of the voluntary movement in the device 3 is realized. In other words, the rehabilitation support system 100 uses the brain-machine interface (BMI) technology to operate the machine (exercise assist device 3) using brain activity (brain waves). Achieve therapeutic rehabilitation.

When the subject 5 performs a voluntary movement (that is, in the process of the subject 5 performing a voluntary movement), a characteristic change in the brain wave may occur. That is, when the subject 5 intends (remembers) to perform a voluntary movement, activation of the brain region corresponding to the target portion of the voluntary movement may occur. An example of such a brain region is the somatosensory motor cortex. More effective rehabilitation can be expected by assisting the voluntary movement of the subject 5 with the exercise assisting device 3 at the timing when such activation of the brain region occurs. Such activation of brain regions can be detected as characteristic changes in EEG. Therefore, the rehabilitation support system 100 assists the subject 5 in voluntary movement by the exercise assisting device 3 at the timing when this characteristic change occurs in the brain wave of the subject 5. Such characteristic changes in EEG can occur when the subject 5 images the voluntary movement (that is, during an exercise attempt) even if the voluntary movement is not actually performed. In other words, such characteristic changes in EEG can be seen if the corresponding brain region is activated by the intention (recollection) of the subject 5 to perform the voluntary movement even if the voluntary movement is not actually performed. Can occur. Therefore, it is possible to support the voluntary movement by the rehabilitation support system 100 even for the subject 5 who is in a state where the voluntary movement is impossible.

According to the rehabilitation support system 100 having such a configuration, it is possible to realize effective rehabilitation by exercise therapy for the subject 5 while reducing the burden on the medical staff. Further, according to the rehabilitation support system 100, for example, the timing of assisting the voluntary movement does not vary due to human factors such as the skill level of the medical staff who assists the voluntary movement of the subject 5, and the effect of the rehabilitation varies. Is reduced. In particular, in the rehabilitation support system 100, the voluntary movement of the subject 5 can be assisted at the timing when the characteristic change in the brain wave occurs (that is, the timing when the brain region is actually activated). In this way, the rehabilitation support system 100 enables training that matches the timing of brain activity, and is expected to contribute to learning and fixation of correct brain activity. In particular, it is difficult for the subject 5 and the medical staff alone to determine whether or not a characteristic change has occurred in the EEG. Therefore, by using the rehabilitation support system 100, effective rehabilitation that is difficult to realize only by the subject 5 or the medical staff becomes possible.

In the present embodiment, when the subject 5 uses the rehabilitation support system 100, a medical staff such as a physical therapist or an occupational therapist accompanies the subject 5, and the medical staff performs the operation of the rehabilitation support system 100 and the like. Suppose that. However, it is not essential for the medical staff to accompany the target person 5 who uses the rehabilitation support system 100. For example, the target person 5 or the target person 5's family may operate the rehabilitation support system 100.

By the way, in the above-mentioned rehabilitation support system 100, the subject 5 is used by the finger drive device 60 in accordance with the timing when the characteristic change in the brain wave of the subject 5 occurs (that is, the timing when the brain region is actually activated). Voluntary movements are assisted. At this time, the muscles and sensory nerves of the subject 5 are activated, and the information is transmitted to the brain, so that the nerves are reconstructed and the effect of rehabilitation is obtained. Therefore, according to the rehabilitation support system 100, for the subject 5 in various states, the exercise therapy is effective as compared with the case where the subject 5 performs voluntary exercise alone, as in the case where the medical staff assists. Rehabilitation can be realized. In addition, the subject 5 can obtain a higher rehabilitation effect by performing rehabilitation while visually recognizing the state of the voluntary movement of the fingers 53.

As shown in FIG. 4, the hand driving device 60 according to the present embodiment includes a frame 67, a driving unit 69 having a driving source 691, a mounting unit 62 on which a part of the body of the subject is placed, and a driving unit 69. It is provided with a transmission mechanism 7 that transmits the power of the above to the mounting portion 62. In the hand driving device 60, in order for the subject 5 to be able to visually recognize the state of the voluntary movement of the fingers 53, the subject 5 when the frame 67, the driving unit 69, the transmission mechanism 7 and the mounting unit 62 perform rehabilitation. It is configured not to be located between the finger 53 and the eyes.

The details will be described in the column of “(2.1) Hand drive device”, but the drive unit 69 is arranged at a position corresponding to the forearm of the subject 5. Further, the transmission mechanism 7 is arranged along the inside of the hand and the forearm with the forearm of the subject 5 horizontal and the palm facing downward.

That is, the hand driving device 60 according to the present embodiment is configured such that the transmission mechanism 7 and the mounting portion 62 are within the thickness of the forearm of the subject 5 and the thickness of the hand of the MP joint (metacarpophalangeal joint) portion. ing. As a result, the subject 5 can perform the rehabilitation while visually observing the state of the voluntary movement of the fingers 53, and can obtain a higher rehabilitation effect.

(2) Details (2.1) Hand drive device The hand drive device 60 according to the present embodiment will be described in more detail below. In the following description, the subject 5 will be described with reference to a state in which the finger driving device 60 is attached to the subject 5 in a posture in which the left forearm is extended horizontally and the left palm is directed downward. In particular, the direction from the drive unit 69 toward the mounting unit 62 is defined as "forward" (forward), the opposite direction is defined as "rear" (rear), and the directions parallel to the front and rear are called the front-rear direction. In some cases. Further, the direction orthogonal to the front and rear directions and along the horizontal direction (the direction in which the fingers 53 are lined up) is defined as the "left-right direction", and the direction from the second finger to the fifth finger in the left-right direction is defined as the "left direction". , The opposite direction is defined as "right direction".

A cover is attached to the finger drive device 60 according to the present embodiment, but the cover is not shown. The cover is made of, for example, cloth or nylon. Therefore, in the present disclosure, when the finger driving device 60 "contacts" the finger 53 or the forearm, the finger driving device 60 directly contacts the finger 53 or the forearm, and the finger driving device 60 covers the cover or the like. It also includes contacting the finger 53 or the forearm through the intermediate.

The finger driving device 60 is a device that moves the finger 53 by applying a mechanical stimulus (external force) to at least one finger 53 of the subject 5. In the present embodiment, at least one finger 53 that gives a mechanical stimulus is four fingers 53 (second to fifth fingers) excluding the first finger 54 (thumb).

The finger driving device 60 according to the present embodiment has an "opening motion" of moving four fingers 53 away from the first finger 54 (that is, an extension motion) by giving a mechanical stimulus, and a first finger. Two types of operations are possible: a "closing operation" of moving (that is, a gripping operation) in a direction approaching 54. The finger driving device 60 assists the extension operation of the finger 53 of the subject 5 by the opening operation, and assists the gripping operation of the finger 53 of the subject 5 by the closing operation.

Here, the "grasping operation" referred to in the present disclosure means an operation of grasping an object. Further, the "extension motion" referred to in the present disclosure is an motion of opening the hand by extending the four fingers 53 (second to fifth fingers) excluding the first finger 54 (thumb), that is, grasping by a gripping motion. It means the action of releasing the "thing" in the state of being. However, in reality, the rehabilitation support system 100 does not directly assist the gripping motion of the subject 5, but indirectly assists the extension motion of the finger 53 of the subject 5 to indirectly rehabilitate the gripping motion. I do.

As shown in FIG. 5, the hand driving device 60 includes a frame 67, a driving unit 69, a transmission mechanism 7, and a mounting unit 62. The transmission mechanism 7 is a mechanism for transmitting the power of the drive unit 69 to the mounting unit 62, and has a linear member 70 to which the power from the drive unit 69 is transmitted and an arm 63 connected to the linear member 70. In the present embodiment, the movable portion including the arm 63 and the mounting portion 62 is referred to as a movable portion 61. In the figure, reference numeral 86 is a cover for the movable portion side fixing portion 82 described later, and reference numeral 87 is a cover for the bent portion 83 described later.

The frame 67 maintains at least one posture of the five fingers other than the fingers moved by the movable portion 61. In the present embodiment, the frame 67 holds the position of the ball of the thumb, thereby keeping the posture of the first finger 54 (thumb) in a constant posture. The frame 67 extends along the arm of the subject 5, and the palm of the subject 5 rests on the first protrusion 684, which is the front end. The frame 67 includes a base portion 68, a first protruding portion 684, and a second protruding portion 685. The frame 67 is a molded product of synthetic resin, and the base portion 68, the first protruding portion 684, and the second protruding portion 685 are integrally formed. Here, the "palm" in the present disclosure means a portion of the inner surface from the wrist to the tip excluding the fingers.

The base 68 constitutes the main body of the frame 67. The base portion 68 extends in the front-rear direction, with a front end close to the movable portion 61 and a rear end close to the drive portion 69. In other words, the base 68 extends from the movable portion 61 toward the drive source 691. The base portion 68 has a longitudinal direction along the front-rear direction, a width in the vertical direction (height direction), and a thickness in the left-right direction. As shown in FIG. 6, the base portion 68 is composed of a first site 681, a second site 682, and a third site 683, which are the first site 681, the second site 682, and the third site 683. Are arranged in this order from front to back, and are integrally formed.

The first site 681 is a portion along the MP joint (joint at the base of the index finger). The first portion 681 extends in parallel in the front-rear direction. The width (vertical dimension) of the first portion 681 is formed to be about the thickness of an average MP joint of a general person. A first mounting portion 687 is formed in the first portion 681. The first mounting portion 687 is a portion to which the movable portion side fixing portion 82 constituting a part of the path member 8 described later is mounted.

The second part 682 is a part along the base of the first finger 54 (thumb) of the back of the hand. The second portion 682 is inclined with respect to the front-rear direction when viewed from above (in a plan view) so that it is located on the left side toward the rear direction. The width dimension (vertical dimension) of the second portion 682 is the same as the width dimension of the first portion 681. The second portion 682 comes into contact with the base of the first finger 54 (thumb) in a posture in which the fingertip of the first finger 54 faces downward.

The third site 683 is a portion along the anterior end of the radius. The third portion 683 extends in parallel in the anteroposterior direction. The third site 683 contacts the right side surface of the anterior end of the forearm. A second mounting portion 688 is formed in the third portion 683. The second mounting portion 688 is a portion to which the bent portion 83 described later is mounted.

As described above, the base portion 68 is bent in a plan view in the middle portion in the longitudinal direction, and is formed along the side surface (right side surface) of the hand and forearm from the MP joint of the subject 5 to the radius. The base portion 68 having such a configuration is provided with a first protruding portion 684 on the front side portion and a second protruding portion 685 on the rear side portion.

The first protruding portion 684 is a portion that holds the ball of the thumb and on which the palm rests. The first protruding portion 684 protrudes from the lower end of the base portion 68 and from the front side portion of the base portion 68 in either the left-right direction (here, the left direction). In the first protruding portion 684, the tip in the protruding direction (the end in the left direction) protrudes to a position corresponding to the base of the little finger.

Here, the "front portion of the base 68" as used in the present disclosure means all or a part of the range in the front direction from the center in the longitudinal direction of the base 68. Therefore, in the present embodiment, the first protruding portion 684 protrudes to the left from the portion including the front end portion of the base portion 68, but is within the range in the front direction from the center in the longitudinal direction of the base portion 68. , May protrude from a portion other than the end.

The first protrusion 684 has an opening 686 through which the first finger 54 (thumb) is passed. The opening 686 is formed in an elliptical shape in a plan view, and penetrates the first protruding portion 684 in the vertical direction. The outer peripheral edge of the opening 686 is recessed downward, and when the first finger 54 (thumb) is passed through the opening 686, it is configured to make surface contact with the periphery of the base of the first finger 54. Has been done.

The second protruding portion 685 is a portion to which the drive portion 69 described later is attached. The second protruding portion 685 protrudes from the upper end of the base portion 68 and from the rear portion of the base portion 68 in the same direction as the first protruding portion 684. The second protrusion 685 is configured to come into contact with the upper surface of the forearm. A third mounting portion 689 is formed on the second protruding portion 685. The third mounting portion 689 is a portion to which the drive portion side fixing portion 85 described later is mounted.

Here, the "rear portion of the base 68" as used in the present disclosure means all or a part of the range in the rear direction from the center in the longitudinal direction of the base 68. Therefore, in the present embodiment, the second protruding portion 685 protrudes to the left from the portion including the rear end portion of the base portion 68, but is within the range rearward from the center in the longitudinal direction of the base portion 68. , May protrude from a portion other than the end.

A plurality of screw holes 680 are formed in the second protrusion 685, and as shown in FIG. 5, the drive portion 69 is screwed to the plurality of screw holes 680.

The drive unit 69 is a device having a drive source 691 built-in. The drive unit 69 includes a drive source 691 and a case 692. The case 692 houses the drive source 691 inside. The case 692 includes a box body 693 having an opening at the top and a lid 694 that closes the opening. The box body 693 is provided with a connector 695 for supplying power to the drive source 691, and a cable connected to the control device 4 is connected to the connector 695.

The drive source 691 generates power. In the present embodiment, the drive source 691 is composed of, for example, a servomotor, a motor 66 such as a stepping motor, a solenoid, or the like. In this embodiment, the drive source 691 is a motor 66 (servo motor). Therefore, the drive source 691 will be described below as the motor 66.

The motor 66 receives electric power to rotate the output shaft. A connecting portion 661 is attached to the output shaft. The connecting portion 661 includes a pinion gear 662 directly fixed to the output shaft of the motor 66, an internal gear 663 that meshes with the pinion gear 662, and a first pulley 664 fixed to the internal gear 663. The first pulley 664 and the internal gear 663 are concentrically fixed and rotate at the same angular velocity. The first pulley 664 is rotatably attached to the case 692. A linear member 70 is connected to the first pulley 664.

The linear member 70 is a member that transmits the power generated by the motor 66 (drive source 691) to the movable portion 61. The linear member 70 is a thinly extended member, and is moved in the longitudinal direction by the power generated by the motor 66. In the present embodiment, the linear member 70 is annular and does not move as a whole, but a part of the linear member 70 moves along the circumferential direction (that is, the longitudinal direction). The linear member 70 is made of a flexible material, that is, the linear member 70 has flexibility. The linear member 70 is, for example, a metal wire, a rubber or leather belt, a string, or the like. In this embodiment, the linear member 70 is a wire 71. Therefore, the linear member 70 will be described below as the wire 71.

As shown in FIG. 7A, the wire 71 is bridged between the first pulley 664 and the second pulley 631. The wire 71 has a first part 711 and a second part 712. The first part 711 is a part of the wire 71 between the upper contact point of the first pulley 664 and the upper contact point of the second pulley 631. The second part 712 is a portion of the wire 71 between the lower contact of the first pulley 664 and the lower contact of the second pulley 631. Of the pair of longitudinal ends of the first portion 711, the first end 711A is connected to the output shaft of the motor 66 via the first pulley 664, the internal gear 663 and the pinion gear 662. Further, the second end 711B on the opposite side of the first end 711A is connected to the second pulley 631 of the movable portion 61 described later. Further, of the pair of longitudinal ends of the second portion 712, the first end 712A is connected to the second pulley 631, and the second end 712B on the opposite side of the first end 712A is the first pulley 664. It is connected to the output shaft of the motor 66 via the internal gear 663 and the pinion gear 662.

Therefore, when the first pulley 664 is rotated in one direction (arrow D1 in the figure) by the motor 66, the second pulley 631 is rotated along with the rotation of the linear member 70. On the contrary, when the first pulley 664 is rotated in the direction opposite to the one direction (arrow D2 in the figure) by the motor 66, the second pulley 631 is rotated with the rotation of the linear member 70.

In the present embodiment, the wire 71 is integrally formed with the first part 711 and the second part 712, but the first part 711 and the second part 712 are composed of different wires 71 from each other. May be. However, even in this case, the first part 711 and the second part 712 are connected to each other via the first pulley 664 and the second pulley 631 and are interlocked with each other.

Such a wire 71 is movably held by the path member 8 and always moves at a constant position with respect to the frame 67.

The path member 8 is a member that forms a path through which the wire 71 (linear member 70) passes. The path member 8 holds the wire 71 in a state of being movable in the longitudinal direction. The path member 8 includes a movable portion side fixing portion 82, a drive portion side fixing portion 85, a bent portion 83, and a plurality of pipes 81, and these drive portion side fixing portion 85 and the movable portion side fixing portion 82. , The bent portion 83, and the plurality of pipes 81 form a path.

The plurality of pipes 81 are members through which the wires 71 are passed. In the present embodiment, each pipe 81 is a pipe having a circular cross section formed in a hollow shape. The inner peripheral surface of each pipe 81 is a part of the longitudinal direction of the path. The plurality of pipes 81 are a first pipe 811, a second pipe 812, a third pipe 813, and a fourth pipe 814. The first pipe 811 and the second pipe 812 extend in the front-rear direction and are parallel to each other. Further, the third pipe 813 and the fourth pipe 814 are inclined so as to be positioned downward toward the front, and are parallel to each other.

The movable portion side fixing portion 82 is a member that supports the front end portions of the first pipe 811 and the second pipe 812, and also rotatably supports the movable portion 61. The movable portion side fixing portion 82 is screwed to the first mounting portion 687 of the frame 67. The movable portion side fixing portion 82 includes a pipe support portion 821 and an arm mounting portion 823. The pipe support portion 821 is a portion formed in a rectangular parallelepiped shape, and has a plurality of mounting holes 822 penetrating in the front-rear direction. The front end of the first pipe 811 is passed through the upper mounting hole 822 of the plurality of mounting holes 822, and the front end of the second pipe 812 is passed through the lower mounting hole 822. Passed through. The arm mounting portion 823 projects forward from the front end surface of the pipe support portion 821. As shown in FIG. 7B, the arm mounting portion 823 is formed to have a dimension (thickness) in the left-right direction smaller than that of the pipe support portion 821, and has a right side surface of the arm mounting portion 823 and a right side surface of the pipe support portion 821. Are located on the same plane. The arm mounting portion 823 has a support shaft 824 extending in the left-right direction. A second pulley 631 is attached to the support shaft 824, and the second pulley 631 is rotatable around the first shaft X1. The first axis X1 extends in the left-right direction. In the present disclosure, the first axis X1 is a straight line passing through the center of the second pulley 631, and is a rotation axis without an entity.

As shown in FIG. 7A, the bent portion 83 is a portion where the path bends, and the wire 71 (linear member 70) is bent in the middle of the longitudinal direction. The bend 83 supports the posterior ends of the first pipe 811 and the second pipe 812, and the anterior ends of the third pipe 813 and the fourth pipe 814. The bent portion 83 is screwed to the second mounting portion 688 of the frame 67. The bent portion 83 includes a plurality of friction reducing portions 84 and a plurality of through holes 844.

The plurality of friction reducing portions 84 reduce the friction generated between the bent portion 83 and the wire 71 (linear member 70) at the bent portion of the path when the wire 71 moves. Each friction reducing portion 84 has a recess 841 and a rotating body 842 that can rotate around a rotation axis Y1 orthogonal to the longitudinal direction of the wire 71. The recess 841 is on either side of the bent portion 83 in the left-right direction (the left side in the present embodiment). In the present embodiment, the rotating body 842 is a columnar roller 843 extending in the left-right direction. The roller 843 is attached to the bottom surface (right side surface) of the recess 841 and is rotatable around a rotation axis Y1 extending in the left-right direction. The roller 843 is housed inside the recess 841.

Here, the rotating body 842 has a tangible support shaft 845, but it does not have to have the support shaft 845 as long as there is a rotation shaft Y1 that is the center of rotation. In the present disclosure, the rotation axis Y1 is a straight line passing through the center of the rotating body 842, and is a rotation axis without an entity.

The plurality of through holes 844 penetrate between the outer peripheral surface of the bent portion 83 and the recess 841. The plurality of through holes 844 formed on the front side of the plurality of through holes 844 are passed through the rear ends of the first pipe 811 and the second pipe 812, and the plurality of through holes 844 formed on the rear side are passed through the plurality of through holes 844. Through the front end of the third pipe 813 and the fourth pipe 814.

The first part 711 of the wire 71 is passed through the third pipe 813 and the first pipe 811. The first portion 711 of the wire 71 is exposed from between the third pipe 813 and the first pipe 811, and the exposed portion is bent in contact with the outer peripheral surface of the roller 843. When the first part 711 moves in the longitudinal direction, the roller 843 rotates about the rotation axis, so that the first part 711 moves while keeping a bent state along the outer peripheral surface of the roller 843.

The second part 712 of the wire 71 is passed through the fourth pipe 814 and the second pipe 812. Similarly, the second part 712 is bent in contact with the outer peripheral surface of the roller 843 between the fourth pipe 814 and the second pipe 812. When the second part 712 moves in the longitudinal direction, the second part 712 moves while keeping the bent state along the outer peripheral surface of the roller 843.

The drive portion side fixing portion 85 supports the rear end portions of the third pipe 813 and the fourth pipe 814. The drive portion side fixing portion 85 is screwed to the third mounting portion 689 of the frame 67. The drive unit side fixing portion 85 has a plurality of mounting holes 851. The rear end of the third pipe 813 is passed through the upper mounting hole 851 of the plurality of mounting holes 851, and the rear end of the fourth pipe 814 is passed through the lower mounting hole 851. Passed through.

The path member 8 having such a configuration is attached to a surface opposite to the surface on which the finger 53 is located in the thickness direction of the base portion 68 of the frame 67. As a result, the wire 71 is arranged along the surface of the frame 67 opposite to the arm side surface. As a result, since the frame 67 is located between the forearm and hand of the subject 5 and the drive unit 69 and the wire 71, the moving portion of the finger drive device 60 is separated from the forearm and hand of the subject 5. Can be done.

A wire 71 is passed through the path formed by the path member 8, and the wire 71 transmits the power of the first pulley 664 to the second pulley 631 as described above. As shown in FIG. 5, the second pulley 631 is a part of the movable portion 61, that is, the movable portion 61 is moved by the rotation of the first pulley 664.

The movable portion 61 is a portion that gives a mechanical stimulus to the fingers 53 (second to fifth fingers) of the subject 5 and moves the fingers 53. The movable portion 61 is configured to be able to move in at least one direction by the power transmitted through the wire 71. The movable portion 61 is configured to be movable with respect to the frame 67, whereby the fingers 53 (second to fifth fingers) can be moved with respect to the first finger 54 of the subject 5. The movable portion 61 includes an arm 63 and a mounting portion 62 provided on the arm 63. The mounting portion 62 is a portion on which a part of the body of the subject is placed, but in the present embodiment, it is a portion on which the finger 53 of the subject 5 is placed, and therefore, it will be described as a finger mounting portion 620 below.

The arm 63 is a portion that is attached to a support shaft 824 of the movable portion side fixing portion 82 and rotates around the first shaft X1. The first axis X1 extends in the left-right direction. The arm 63 has a first position where the longitudinal direction of the arm 63 is parallel to the front-rear direction and a second position where the longitudinal direction of the arm 63 forms a predetermined angle (for example, 80 °) with respect to the front-rear direction. It is rotatable to and from the position. As shown in FIGS. 8A and 8B, the arm 63 includes a base 64 having a second pulley 631 and a moving body 65 movable with respect to the base 64.

In the present disclosure, as shown in FIG. 9A, the rotation direction from the second position to the first position, that is, the direction of rotation of the arm 63 around the first axis X1 away from the frame 67 is the "first rotation direction". Let it be "R1", and let the rotation direction from the first position to the second position be "the second rotation direction R2". Therefore, in the present disclosure, the "open operation" refers to the operation of the finger rest portion 620 caused by the rotation of the arm 63 in the first rotation direction R1, and the "closed operation" refers to the operation of the arm 63 in the second rotation direction R2. Refers to the operation of the finger rest portion 620 by rotating to.

The base 64 is a part constituting the main body of the arm 63. As shown in FIG. 8A, the base 64 includes a base main body 641, a second pulley 631, and a pair of rails 642. The base body 641 and the second pulley 631 and the pair of rails 642 are integrally formed. The base body 641 extends in the front-rear direction with the arm 63 in the first position. The second pulley 631 is provided at the rear end of the base body 641. The rail 642 holds the moving body 65 so as to be movable in the front-rear direction while the arm 63 is in the first position.

The moving body 65 can move with respect to the base 64 along the longitudinal direction of the base 64. When the moving body 65 moves forward with respect to the base 64 while the arm 63 is in the first position, the arm 63 expands, and when the moving body 65 moves backward with respect to the base 64, the arm 63 contracts. As a result, in the present embodiment, the arm 63 is configured to be expandable and contractible.

As shown in FIGS. 9A and 9B, the finger rest portion 620 is configured to rest the pad of the finger 53 (second to fifth fingers) of the subject 5. The upper surface of the finger rest portion 620 is formed in a flat shape. When the finger 53 of the subject 5 is placed on the finger rest portion 620, the finger rest portion 620 receives a force in the first direction F1 as shown in FIG. The first direction F1 is a direction orthogonal to the upper surface of the finger rest portion 620 and is a downward direction. In the present embodiment, the first direction F1 is a direction parallel to the downward direction with the arm 63 in the first position.

The finger rest portion 620 protrudes from the arm 63 (moving body 65) in either the left-right direction (here, the left direction). That is, the longitudinal direction of the finger rest portion 620 is parallel to the left-right direction. Further, the finger rest portion 620 is separated from the first axis X1 in the longitudinal direction of the arm 63, that is, the finger rest portion 620 is the first in the longitudinal direction of the arm 63 from a portion that does not overlap with the first axis X1. It projects along a direction parallel to the axis X1.

Here, the "belly of the finger 53" referred to in the present disclosure means the inner surface of the finger 53. That is, in the present disclosure, the "belly of the finger 53" includes not only the inner surface of the fingertip but also the inner surface of the base of the finger.

The finger rest portion 620 is inclined so that the front edge portion of the middle portion in the left-right direction is positioned in the rear direction as it approaches the tip of the finger rest portion 620 while the arm 63 is in the first position. .. Therefore, in a state where the pad of the finger 53 (second finger to fifth finger) of the subject 5 is placed on the finger rest portion 620, the front edge portion of the finger rest portion 620 is along the finger rest 53.

Further, as shown in FIG. 9B, the arm 63 has a mechanism for rotatably connecting the finger rest portion 620 around the second axis X2. The second axis X2 extends in a direction along the longitudinal direction of the arm 63. However, in order to maintain the function as the finger resting portion 620, the finger driving device 60 has a rotation regulating portion 72 that regulates one of the rotations of the finger resting portion 620 around the second axis X2 in both directions.

FIG. 10 shows a rear view of the finger rest portion 620 with the arm 63 in the first position. Here, in the present disclosure, among the rotation directions around the second axis X2, the direction of upward rotation from the position where the longitudinal direction of the finger rest portion 620 coincides with the left-right direction (referred to as the finger rest position) is "third. The rotation direction P1 of the above, and the opposite direction is defined as the "fourth rotation direction P2".

The rotation control portion 72 has a protrusion 721 formed on the finger rest portion 620 and a contact portion 722 formed on the arm 63. The protrusion 721 projects from the end of the finger rest 620 on the arm 63 side along the fourth rotation direction P2. The contact portion 722 hits the protrusion 721 in a state where the finger rest portion 620 is in the finger rest position, and restricts the rotation of the finger rest portion 620 in the fourth rotation direction P2. That is, the rotation restricting portion 72 restricts the rotation of the finger resting portion 620 in the fourth rotation direction P2 while the finger resting portion 620 is in the finger resting position. That is, the rotation restricting portion 72 is the second axis X2 when the finger resting portion 620 receives a force in the first direction F1 from the position where the finger resting portion 620 is along the first axis X1 (finger resting position). Regulate the rotation around.

By the way, when power is generated from the motor 66, the power is transmitted to the finger rest portion 620 via the transmission mechanism 7 including the wire 71 and the arm 63. The transmission mechanism 7 rotates the finger rest portion 620 around the first axis X1. With the arm 63 in the second position, the transmission mechanism 7 moves the finger rest 620 in the second direction F2 facing the first direction F1. At this time, since the finger rest portion 620 receives the force from the finger 53, a constant load is generated on the transmission mechanism 7. The load generated in the transmission mechanism 7 at this time is the "load generated when the finger rest portion 620 is moved in the second direction" in the present disclosure, and is hereinafter referred to as a "first load" as necessary.

Here, in the present embodiment, the "second direction F2" is the first rotation direction R1, and is the direction in which the finger rest portion 620 moves away from the frame 67 (direction away from it). The "second direction F2 facing the first direction F1" in the present disclosure may be any direction as long as it faces the first direction F1, and the first direction F1 and the second direction F2 are parallel to each other. Not limited to one case. That is, the first direction F1 and the second direction F2 may have directional components that face opposite to each other when decomposed into three directional components that are orthogonal to each other.

When a force is applied to the finger rest portion 620 in a direction opposite to the first direction F1 (that is, a second direction F2), that is, a load is applied to the transmission mechanism 7 in a direction opposite to the first load. Occasionally, the finger rest 620 rotates in the third rotation direction P1. In this state, the transmission of power from the transmission mechanism 7 to the finger rest portion 620 is cut off. That is, in the present embodiment, the cutoff mechanism is realized by a mechanism in which the finger rest portion 620 is rotatably connected to the arm 63 around the second axis X2. In other words, the transmission mechanism 7 has a blocking mechanism.

Here, when "a load in the direction opposite to the first load is applied" to the transmission mechanism 7, an external force is applied to the transmission mechanism 7 so as to generate a load in the direction opposite to the first load. It refers to the time when the transmission mechanism receives the load, and the load may not be directly applied to the transmission mechanism 7.

Further, in the present disclosure, "a load is applied to the second direction F2" not only means that the moving body hits the finger resting portion 620 at the finger resting position and an external force is applied, but also the finger resting portion 620 is applied. Includes the case where the mobile body moves and hits a stationary body or a moving body and an external force is applied. Therefore, even when the arm 63 rotates in the second rotation direction R2 with the finger rest portion 620 in contact with the object on the second rotation direction R2 side of the finger rest portion 620, the transmission mechanism 7 "A load is applied to the second direction F2."

Therefore, the hand driving device 60 according to the present embodiment is particularly advantageous in the case shown in FIG. 11A, for example. Here, the case where the finger 53 of the subject 5 is located between the frame 67 and the finger rest portion 620 will be described.

As shown in FIG. 11A, the finger 53 of the subject 5 is located between the first protruding portion 684 of the frame 67 and the finger rest portion 620. In this state, when power is transmitted from the motor 66 via the transmission mechanism 7, the arm 63 rotates in the second rotation direction R2 as shown in FIG. 11B.

Then, as shown in FIG. 11C, an external force is applied from the finger 53 of the subject 5 to the finger rest portion 620, and the finger rest portion 620 rotates in the third rotation direction P1. That is, in the transmission mechanism 7, a force that applies a load in the direction opposite to the first load is applied to the finger rest portion 620, so that the transmission of power between the transmission mechanism 7 and the finger rest portion 620 is cut off. ..

As a result, even if the finger 53 of the subject 5 is positioned between the frame 67 and the finger rest 620 and the finger rest 620 moves in the direction of approaching the frame 67, the first protrusion 684 It is possible to prevent the finger 53 from being pinched between the finger rest portion 620 and the finger rest portion 620.

(2.2) Rehabilitation Support System Next, the rehabilitation support system 100 according to the present embodiment will be described in detail.

As shown in FIG. 1, the rehabilitation support system 100 includes an electroencephalogram measuring system 10, an exercise assisting device 3 including a finger driving device 60, and a control device 4.

In the present embodiment, the electroencephalogram measurement system 10 includes a headset 1 and an information processing device 2.

As shown in FIG. 2, the headset 1 is attached to the head 52 of the subject 5. The headset 1 has an electrode portion 11. The electrode portion 11 is arranged at the measurement point 51, which is a part of the head 52 of the subject 5. Specifically, in the headset 1, the subject 11 is in contact with the measurement point 51 set on a part of the surface (scalp) of the head 52 of the subject 5. The electroencephalogram of 5 is measured, and the signal processing unit 12 generates electroencephalogram information representing the electroencephalogram. The signal processing unit 12 executes signal processing on the electroencephalogram signal (electrical signal) input from the electrode unit 11 to generate electroencephalogram information.

The information processing device 2 mainly includes a computer system such as a personal computer. The computer system mainly includes a processor 21 and a memory 22 as hardware. The information processing apparatus 2 receives the electroencephalogram information from the headset 1 by, for example, wireless communication, and executes various processes for the electroencephalogram information. In the present embodiment, the information processing apparatus 2 performs detection of brain waves including characteristic changes that may occur when the subject 5 intends to perform a voluntary movement (including recall), calibration processing, and the like. ..

When the subject 5 intends (remembers) to perform a voluntary movement, an electroencephalogram including a characteristic change is usually generated in the motor cortex corresponding to the part of the body in which the voluntary movement is performed. Therefore, the electroencephalogram measurement system 10 measures the electroencephalogram collected from the vicinity of the motor cortex corresponding to the disordered site, which is the target of rehabilitation. Here, the motor cortex corresponding to the left finger is in the right brain, and the motor cortex corresponding to the right finger is in the left brain. Therefore, when the left finger 53 of the subject 5 is targeted for rehabilitation as in the present embodiment, the brain wave acquired by the electrode portion 11 brought into contact with the right side of the head 52 of the subject 5 is generated. It is a measurement target by the electroencephalogram measurement system 10. That is, as shown in FIG. 2, the electrode portion 11 is arranged on the measurement point 51 including a part of the right surface of the head 52 of the subject 5. As an example, in the international 10-20 method, the electrode portion 11 is arranged at the position represented by the electrode symbol “C4”. When the right finger of the subject 5 is to be rehabilitated, the measurement point consisting of a part of the left surface of the head 52 of the subject 5, for example, the electrode symbol "C3" in the International 10-20 Law. The electrode portion 11 is arranged at the represented position.

When the electroencephalogram measuring system 10 detects an electroencephalogram including a characteristic change that may occur when the subject 5 intends to perform a voluntary movement, the electroencephalogram measuring system 10 outputs a control signal for controlling the exercise assisting device 3. That is, in the rehabilitation support system 100, the exercise assist device 3 is triggered by the brain wave measurement system 10 detecting a brain wave including a characteristic change that may occur when the subject 5 intends to perform a voluntary movement. A control signal for control is generated. As a result, in the rehabilitation support system 100, it is possible to assist the voluntary movement of the subject 5 with the exercise assist device 3 in accordance with the voluntary movement of the subject 5.

The exercise assist device 3 is a device that assists the movement of the subject 5 by adding at least one of a mechanical stimulus and an electrical stimulus to the subject 5. In the present embodiment, since the rehabilitation support system 100 is used for the rehabilitation of the left hand of the subject 5, the exercise assist device 3 is attached to the left hand of the subject 5 as shown in FIG.

In the rehabilitation support system 100 according to the present embodiment, when the subject 5 performs an extension movement as a voluntary movement, the exercise assist device 3 attached to the left hand of the subject 5 is mechanically attached to the left finger 53 of the subject 5. It assists voluntary movements by adding at least one of a physical stimulus and an electrical stimulus. Specifically, as shown in FIG. 3, the exercise assisting device 3 has the above-mentioned hand driving device 60 and the electrical stimulation generator 32.

The electrical stimulus generator 32 is a device that gives an electrical stimulus to a portion for moving the finger 53 of the subject 5. The electrical stimulus generator 32 can move the finger 53 by applying an electrical stimulus to the site. Here, the site for moving the finger 53 of the subject 5 includes a site corresponding to at least one of the muscle and the nerve of the finger 53 of the subject 5. For example, the part for moving the finger 53 of the subject 5 is a part of the arm of the subject 5. The electrical stimulus generator 32 includes, for example, a pad attached to the body (eg, arm) of the subject 5. The electric stimulus generator 32 gives a stimulus to a site for moving the finger 53 by applying an electric stimulus (current) to the body of the subject 5 from the pad.

The control device 4 controls the exercise assist device 3 based on the electroencephalogram information acquired by the electroencephalogram measurement system 10. In the present embodiment, the control device 4 is electrically connected to the information processing device 2 and the exercise assist device 3 of the electroencephalogram measurement system 10. A power cable for supplying operating power for the exercise assisting device 3 and the control device 4 is connected to the control device 4. The control device 4 includes a drive circuit for driving the finger drive device 60 of the exercise assist device 3 and an oscillation circuit for driving the electrical stimulus generator 32. The control device 4 receives a control signal from the information processing device 2 by, for example, wire communication.

When the control device 4 receives the first control signal from the information processing device 2, the control device 4 drives the finger drive device 60 of the exercise assist device 3 by the drive circuit, and the hand drive device 60 performs the "open operation". Controls the exercise assist device 3. Further, when the control device 4 receives the second control signal from the information processing device 2, the control device 4 drives the finger drive device 60 of the exercise assist device 3 by the drive circuit, and the hand drive device 60 performs a "close operation". The exercise assist device 3 is controlled so as to be processed. Further, when the control device 4 receives the third control signal from the information processing device 2, the control device 4 drives the electrical stimulation generator 32 of the exercise assist device 3 by the oscillation circuit, and the body of the subject 5 is electrically stimulated. The exercise assist device 3 is controlled so as to be given.

As described above, the control device 4 controls the exercise assist device 3 based on the control signal output from the brain wave measurement system 10, and the exercise assist device 4 is based on the brain wave information acquired by the brain wave measurement system 10. It is possible to control 3. Further, the control device 4 controls the exercise assist device 3 so that the finger drive device 60 performs the “open operation” and the “close operation” in response to the operation of the operation switch provided in the control device 4. You can also.

Next, how to use the rehabilitation support system 100 will be described. In the present embodiment, the rehabilitation support system 100 performs a voluntary movement (extension movement) when the subject 5 releases the peg 101 by the extension movement of the fingers 53 from the posture in which the peg 101 (see FIG. 1) is grasped by the left finger. The case of assisting with is explained.

First, as a preparatory process, the subject 5 attaches the headset 1 to the head 52 and the exercise assist device 3 to the left hand. At this time, the headset 1 is attached to the head 52 of the subject 5 so that at least the electrode portion 11 is in contact with a part of the right surface of the head 52 of the subject 5 which is the measurement point 51. The exercise assist device 3 holds at least four fingers 53 (second to fifth fingers) excluding the first finger (thumb) of the left hand of the subject 5, and the pad is attached to the arm of the subject 5. In this state, it is attached to the subject 5. The headset 1 and the exercise assist device 3 are appropriately fixed so as not to shift or come off during rehabilitation. In the preparation process, the four fingers 53 of the subject 5 are held by the finger drive device 60 of the exercise assist device 3, so that the subject 5 maintains the posture of grasping the peg 101 with his left hand. .. The work of attaching the headset 1 and the exercise assist device 3 to the subject 5 may be performed by the subject 5 himself or by the medical staff.

When the preparation is completed and the headset 1 and the information processing device 2 are in a communicable state, the brain wave information generated by the headset 1 can be acquired by the information processing device 2. That is, the electroencephalogram measurement system 10 acquires the electroencephalogram information representing the electroencephalogram collected by the electrode unit 11 arranged at the measurement point 51, which is a part of the head 52 of the subject 5, in the information processing device 2. be able to. The information processing apparatus 2 stores (accumulates) the acquired electroencephalogram information in the memory 22 (see FIG. 3) in chronological order. Further, the information processing apparatus 2 generates a power spectrum of an electroencephalogram by, for example, performing a time frequency analysis on the stored electroencephalogram information. The brain wave measurement system 10 can detect brain waves including characteristic changes that may occur when the subject 5 intends to perform a voluntary movement by constantly monitoring the power spectrum data with the information processing device 2. It becomes.

Here, before the subject 5 starts rehabilitation, the electroencephalogram measuring system 10 executes a calibration process for determining various parameters used for detecting the electroencephalogram to be detected. As a result, the electroencephalogram measurement system 10 takes into account the frequency band in which the power is reduced due to event-related desynchronization, and the variation in the amount of power reduction for each subject 5, and the electroencephalogram to be detected. It is possible to improve the detection accuracy of.

The "event-related desynchronization" referred to in the present disclosure means a phenomenon in which the power of a specific frequency band decreases in an electroencephalogram measured near the motor cortex during voluntary movement (including recall of voluntary movement). The term "at the time of voluntary movement" as used in the present disclosure means the process from the intention (recollection) of the voluntary movement by the subject 5 to the success or failure of the voluntary movement. "Event-related desynchronization" can occur during this voluntary movement, triggered by the intention (recollection) of the voluntary movement. The frequency bands in which the power is reduced due to event-related desynchronization are mainly α waves (for example, frequency bands of 8 Hz or more and less than 13 Hz) and β waves (for example, frequency bands of 13 Hz or more and less than 30 Hz).

After the completion of the preparatory process including the calibration process, the rehabilitation support system 100 starts a training process to support the rehabilitation of the subject 5. In the training process, the rehabilitation of the subject 5 is supported based on the brain waves measured by the brain wave measuring system 10 during the training time. Specifically, the training time is divided into a rest period and an exercise period, and the subject 5 carries out rehabilitation according to the instructions of the rehabilitation support system 100 in each of the rest period and the exercise period.

During the rest period, the subject 5 keeps the body in a resting state, that is, does not perform voluntary movements (including recall) and maintains a relaxed state. At this time, the electroencephalogram measurement system 10 does not detect the electroencephalogram including the characteristic change due to the event-related desynchronization that occurs when the subject 5 performs the voluntary movement.

On the other hand, during the exercise period, the subject 5 intends to perform an extension movement of the fingers 53, that is, a voluntary movement. At this time, the electroencephalogram measuring system 10 can detect an electroencephalogram including a characteristic change due to event-related desynchronization that may occur when the subject 5 intends to perform a voluntary movement. In the present embodiment, characteristic changes in EEG are compared between the activation level and the threshold value, and detected by whether or not the activation level exceeds the threshold value. The "activation level" referred to in the present disclosure is a value representing the amount of decrease in power (power spectrum) in a specific frequency band. Since the activation level exceeds the threshold value due to the event-related desynchronization and the decrease in power in a specific frequency band, the electroencephalogram measurement system 10 has a characteristic change in the brain wave when the activation level exceeds the threshold value. Is detected.

In the electroencephalogram measurement system 10, a control signal for controlling the exercise assist device 3 is generated by detecting an electroencephalogram including such a characteristic change as a trigger. Therefore, in the rehabilitation support system 100, when the subject 5 intends to perform a voluntary movement, the exercise assisting device is adjusted to the timing when the activation of the brain region corresponding to the target part of the voluntary movement actually occurs. It is possible to assist the voluntary movement of the subject 5 in 3.

(Modification example)
(1) Modification of Transmission Mechanism Embodiment 1 is only one of various embodiments of the present disclosure. The first embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved.

The drive device 6 in the present disclosure may have a transmission mechanism 7 as shown in FIG. The transmission mechanism 7 according to this modification has a primary side member 73 in which power is transmitted from the motor 66 via the wire 71, and a secondary side member 76 connected to the finger rest portion 620.

The primary side member 73 includes a first rotating plate 74 and a second rotating plate 75. The first rotating plate 74 is connected to the wire 71 and is attached to the support shaft 824 of the arm mounting portion 823. The first rotating plate 74 is rotatable around the first axis X1 by the wire 71. The first rotating plate 74 has a large-diameter portion 741 and a small-diameter portion 742 that protrudes from the large-diameter portion 741 in either the left-right direction (here, the left direction). The large diameter portion 741 and the small diameter portion 742 are both disk-shaped, but the small diameter portion 742 has a smaller diameter than the large diameter portion 741. The first rotating plate 74 further has a protrusion 743 protruding from the large diameter portion 741. The protrusion 743 protrudes from the large diameter portion 741 in the thickness direction of the large diameter portion 741. In the present embodiment, the protrusion 743 is configured by the ball plunger 744.

The second rotating plate 75 is concentrically fixed to the small diameter portion 742 of the first rotating plate 74 and rotates at the same angular velocity. The second rotating plate 75 has a stopper 751 that regulates the rotation range of the arm 63. The stopper 751 projects radially from the outer peripheral edge of the second rotating plate 75. An arm 63 is rotatably attached around the first axis X1 between the second rotating plate 75 and the first rotating plate 74.

The secondary side member 76 is an arm 63 in this modification. In FIG. 12, the moving body 65 of the arm 63 is not shown, and only the base 64 is shown. The base 64 has an opening hole 761 having a size that allows the small diameter portion 742 to pass through and not the large diameter portion 741, an facing surface 762 facing the large diameter portion 741, and facing the stopper 751 in the first rotation direction R1. It is equipped with a receiving unit 763. A groove 764 is formed on the facing surface 762 so that the protrusion 743 can be caught around the first axis X1. The groove 764 is composed of a V-groove having a V-shaped cross section, and extends in a direction orthogonal to the first axis X1 on the facing surface 762 of the base 64.

The second rotating plate 75 is fixed to the small diameter portion 742 facing from the opening hole 761 in a state where the small diameter portion 742 of the first rotating plate 74 is passed through the opening hole 761 and the facing surface 762 faces the large diameter portion 741. NS. At this time, the stopper 751 is close to the receiving portion 763, and the protrusion 743 is inserted into the groove 764, so that the arm 63 is connected to the first rotating plate 74 and is in a connected state.

In the transmission mechanism 7 having such a configuration, as shown in FIGS. 13A and 13B, when the second rotating plate 75 rotates in the first rotation direction R1, the stopper 751 hits the receiving portion 763 and the second rotating plate 75 The arm 63 rotates in the first rotation direction R1 according to the rotation of. As a result, the transmission mechanism 7 can move the finger rest portion 620 in the second direction F2 while receiving the force of the finger 53 in the first direction.

Next, when a force is applied to the arm 63 in the second rotation direction R2 and the load applied to the connecting portion becomes a predetermined value or more, as shown in FIG. 14C, the protrusion 743 comes off from the groove 764 and receives the stopper 751. Separated from part 763. That is, in this modification, the groove 764 and the protrusion 743 form a temporary holding mechanism 77. The temporary holding mechanism 77 is a load in the second direction F2 on the connecting portion between the primary side member 73 and the secondary side member 76, and when a load of a predetermined value or more is applied, the primary side member 73 and the second side member 73 and the second. It is configured so that the connection state with the next member 76 is released.

Here, the “load of a predetermined value or more” referred to in the present disclosure is a load that causes pain in the fingers or the like when the fingers or the like are pinched between the frame 67 and the arm 63.

That is, when a load is applied to the transmission mechanism 7 in the direction opposite to the first load (load generated when the finger rest portion 620 is moved in the second direction) (second direction F2), the finger rest portion is applied. The transmission of power to the 620 is cut off. That is, in this modification, the blocking mechanism 78 is realized by the temporary holding mechanism 77 between the primary side member 73 and the secondary side member 76.

Therefore, in the drive device 6 according to the present deformation, as shown in FIG. 14A, there is a particular advantage when, for example, an inclusion 9 such as a part of the body is positioned between the frame 67 and the arm 63. In this state, when the arm 63 rotates in the second rotation direction R2, the arm 63 hits the inclusions 9 as shown in FIG. 14B. Then, since a load in the direction opposite to the first load is applied to the transmission mechanism 7, the power transmitted to the finger rest portion 620 is cut off. Specifically, while the arm 63 hits the inclusions 9 and the arm 63 stops moving in the second rotation direction R2, the rotation of the second rotating plate 75 in the second rotation direction R2 continues. As a result, as shown in FIG. 14C, the protrusion 743 is pulled out from the groove 764, and the transmission of power from the wire 71 to the arm 63 and the finger rest portion 620 is cut off.

After the power is cut off by the cutoff mechanism 78, as shown in FIGS. 15A to 15C, when the second rotating plate 75 rotates in the first rotation direction R1, the protrusion 743 is caught in the groove 764 and the stopper is stopped. 751 faces the receiving portion 763. In this state, when the second rotating plate 75 further rotates in the first rotation direction R1, the power transmitted from the wire 71 is transmitted to the arm 63, and the arm 63 moves in the first rotation direction R1.

In the present disclosure, the cutoff mechanism 78 according to the first embodiment is used as the first cutoff mechanism, the cutoff mechanism 78 according to the modified example is used as the second cutoff mechanism, and the first cutoff mechanism and the second cutoff mechanism are used. You may have both. In this case, in the first cutoff mechanism, the power is cut off when a force around the second axis X2 is applied to the finger rest portion 620, and in the second cutoff mechanism, the first is applied to the finger rest portion 620. It is configured to cut off the power when a force around the shaft X1 is applied. That is, since the first axis and the second axis are in different directions from each other, the blocking mechanism 78 can be operated against a force from a plurality of directions.

The drive device 6 of the present disclosure may have only the second cutoff mechanism 78.

(2) Other Modification Examples The modifications of the first embodiment are listed below. The modifications described below can be applied in combination as appropriate.

The finger rest portion 620 according to the first embodiment is rotatably connected to the arm 63 around the second axis X2, and the second axis X2 is parallel to the longitudinal direction of the arm 63, but the second axis. The X2 may be slightly tilted with respect to the longitudinal direction of the arm 63. That is, in the present disclosure, the "direction along the longitudinal direction of the arm 63" according to the second axis X2 is inclined not only in the direction corresponding to the longitudinal direction of the arm 63 but also in the longitudinal direction of the arm 63. You may.

The blocking mechanism 78 in the present disclosure is not limited to the blocking mechanism 78 according to the above embodiment and the above modification. The blocking mechanism 78 according to the present disclosure maintains power transmission with respect to the mounting portion 62, for example, with respect to the force applied to the first direction F1, and the force applied to the mounting portion 62 in the direction opposite to the first direction F1 (second direction F2). ) May be configured by a ratchet mechanism that cuts off power transmission.

The temporary holding mechanism 77 in the present disclosure is not limited to the temporary holding mechanism 77 according to the above modification. The temporary holding mechanism 77 according to the present disclosure may be, for example, a mechanism in which a primary side member 73 and a secondary side member 76 are connected by a breaking member that breaks when a certain load is applied.

In the drive device 6 according to the first embodiment, the mounting portion 62 is configured to move the second to fifth fingers, but the present invention is not limited to this example, and for example, the mounting portion 62 may be configured to move only the second finger. Alternatively, it may be configured to move the fourth and fifth fingers instead of the second finger. Further, the mounting portion 62 does not have to be a mounting portion for the fingers 53, and may be a part of the body such as a palm, an arm, or a leg.

Further, in the drive device 6, the frame 67 is configured to maintain the posture of the first finger 54 (thumb), but the present invention is not limited to this example, and when the movable portion 61 moves only the second finger, for example, It may be configured to maintain all postures of the first finger 54 and the third to fifth fingers.

Further, in the drive device 6, in the first embodiment, the finger 53 is configured to perform the extension operation and the gripping operation by the movable portion 61, but the present invention is not limited to this example, and the drive device 6 may be configured to perform only the extension operation. good. Further, the movable portion 61 may be configured to move in the left-right direction.

Further, the transmission mechanism 7 may have three or more cutoff mechanisms 78.

The electroencephalogram measurement system 10 in the present disclosure includes a computer system. The computer system mainly consists of a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the electroencephalogram measurement system 10 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. The processor of a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

The electrode portion 11 is not limited to the configuration in which the electrode portion 11 is in contact with the surface (scalp) of the head 52 of the subject 5, and the electrode portion 11 is configured so that the electrode portion 11 is in contact with the surface of the brain (brain surface), for example. May be good.

The communication method between the headset 1 and the information processing device 2 is wireless communication in the first embodiment, but is not limited to this example, and may be, for example, wired communication or communication via a repeater or the like. It may be a method. The communication method between the control device 4 and the information processing device 2 is wired communication in the first embodiment, but is not limited to this example, and may be, for example, wireless communication, or communication via a repeater or the like. It may be a method.

Further, the headset 1 is not limited to the battery-powered type, and may be configured such that the operating power of the signal processing unit 12 and the first communication unit is supplied from, for example, the information processing device 2.

Further, the information processing apparatus 2 is not limited to the configuration in which the electroencephalogram information is acquired from the dedicated headset 1, and may be configured to acquire the electroencephalogram information from, for example, a general-purpose electroencephalograph.

Although the hand drive device 60 according to the first embodiment is used in the rehabilitation support system, it is not limited to this example and may be used for general rehabilitation.

(summary)
As described above, the drive device (6) according to the first aspect includes a drive source (691) for generating power, a mounting portion (62), and a transmission mechanism (7). A part of the body of the subject (5) is placed on the mounting portion (62), and a force is received from the part of the body in the first direction. The transmission mechanism (7) transmits the power generated by the drive source (691) to the mounting portion (62), and transmits the mounting portion (62) in the second direction (F2) facing the first direction (F1). Move it. The transmission mechanism (7) has a cutoff mechanism (78) that cuts off the transmission of power to the mounting portion (62) when a load is applied in the second direction (F2).

According to this aspect, although a part of the body can be moved by the mounting portion (62), the mounting portion (62) continues to operate when a load in the second direction (F2) is applied. Easy to prevent.

The drive device (6) according to the second aspect further includes a frame (67) on which the palm of the subject (5) rests in the first aspect. The mounting portion (62) is a finger mounting portion (620) on which at least a part of the fingers (53) of the subject (5) is placed. The second direction (F2) is the direction in which the finger rest portion (620) is separated from the frame (67).

According to this aspect, when an external force is applied to the finger rest portion (620) in the second direction (F2), the power is transmitted between the transmission mechanism (7) and the finger rest portion (620). Can be blocked. Therefore, for example, the finger rest portion (620) moves in a direction approaching the frame (67), and between the finger rest portion (620) and the frame (67), for example, inclusions (9) (fingers, etc.). Is located, an external force is applied from the inclusions (9) to the finger rest portion (620) in the second direction (F2). As a result, it is easy to prevent the inclusions (9) from being caught between the finger rest portion (620) and the frame (67).

The drive device (6) according to the third aspect, in the second aspect, the transmission mechanism (7) has an arm (63) that rotates around a rotation axis extending in a direction intersecting the longitudinal direction. The finger rest portion (620) protrudes from a portion of the longitudinal direction of the arm (63) that does not overlap the rotation axis along a direction parallel to the rotation axis.

According to this aspect, the movement of the finger resting portion (620) can be made to be a movement close to the extension movement or the gripping movement of the finger (53).

In the driving device (6) according to the fourth aspect, the rotation axis of the arm (63) is the first axis (X1) in the third aspect. The arm (63), as a blocking mechanism (78), has a mechanism that rotatably connects the finger rest portion (620) around the second axis (X2) extending in the longitudinal direction of the arm (63). Have. The drive device (6) has a second axis when the finger rest portion (620) receives a force in the first direction (F1) from the posture along the first axis (X1). (X2) A rotation control unit (72) that regulates rotation around the circumference is further provided.

According to this aspect, when the finger (53) can be placed on the finger rest portion (620), but an external force is applied to the finger rest portion (620) in the second direction (F2), the transmission mechanism ( It is possible to block the transmission of power from the finger rest portion (620) from 7).

In the fourth aspect of the drive device (6) according to the fifth aspect, the cutoff mechanism (78) has a first cutoff mechanism and a second cutoff mechanism at a position different from the first cutoff mechanism. Have at least.

According to this aspect, in the power transmission path from the drive source (691) to the mounting portion (62), the power from the drive source (691) is closer to the place where the load in the direction opposite to the normal load is generated. Can be blocked.

In the fifth aspect, the drive device (6) according to the sixth aspect has a finger resting portion (a finger resting portion around a rotation axis) in which the second cutoff mechanism (78) extends in a direction different from that of the second axis (X2). 620) The transmission of power is cut off.

According to this aspect, the transmission of power from the drive source (691) can be cut off in response to external forces in a plurality of directions applied to the mounting portion (62) or the transmission mechanism (7).

In any of the first to sixth aspects of the drive device (6) according to the seventh aspect, the transmission mechanism (7) includes a primary side member (73) and a secondary side member (76). Power is transmitted from the drive source (691) to the primary side member (73). The secondary side member (76) is connected to the primary side member (73), and in the connected state, the power transmitted from the primary side member (73) is transmitted to the mounting portion (62). The cutoff mechanism (78) includes a temporary holding mechanism (77) in which the connected state is released when the load applied to the connecting portion between the primary side member (73) and the secondary side member (76) becomes a predetermined value or more.

According to this aspect, in the transmission mechanism (7), the configuration of the cutoff mechanism (78) can be simplified.

The rehabilitation support system (100) according to the eighth aspect includes a drive device (6) according to any one of the first to seventh aspects, an electrode unit (11), and a control device (4). The electrode portion (11) is arranged at a measurement point (51) which is a part of the head (52) of the subject (5), and the brain wave of the subject (5) is collected. The control device (4) controls the drive device (6) according to the brain waves collected by the electrode unit 11.

According to this aspect, it is the same as the case where a medical staff such as a physical therapist or an occupational therapist holds the finger (53) of the subject (5) and assists the movement of the finger (53) of the subject (5). In addition, rehabilitation by exercise therapy can be performed.

The configuration according to the second to seventh aspects is not an essential configuration for the drive device (6) and may be omitted as appropriate.

4 Control device 5 Target person 51 Measurement point 52 Head 53 Finger 6 Drive device 61 Movable part 62 Mounting part 620 Finger mounting part 63 Arm 67 Frame 691 Drive source 7 Transmission mechanism 72 Rotation control part 73 Primary side member 76 Secondary side member 77 Temporary holding mechanism 78 Breaking mechanism 100 Rehabilitation support system X1 1st axis X2 2nd axis F1 1st direction F2 2nd direction

Claims (5)

The drive source that generates power and
A mounting part on which a part of the subject's body is placed and a force is received from the part of the body in the first direction.
A transmission mechanism that transmits the power generated by the drive source to the mounting portion and moves the mounting portion in a second direction facing the first direction.
Equipped with
The transmission mechanism, when the load in the second direction is applied, a drive operated device that having a cutoff mechanism for cutting off transmission of the power to the rest portion,
Further equipped with a frame on which the subject's palm rests,
The mounting portion is a finger mounting portion on which at least a part of the finger of the subject is placed.
The second direction is a direction in which the finger rest portion is separated from the frame.
The transmission mechanism has an arm that rotates about a rotation axis extending in a direction intersecting the longitudinal direction.
The finger rest portion protrudes from a portion of the longitudinal direction of the arm that does not overlap with the rotation axis along a direction parallel to the rotation axis.
The rotation axis of the arm is set as the first axis.
The arm has, as the blocking mechanism, a mechanism that rotatably connects to the finger resting portion around a second axis extending in a direction along the longitudinal direction of the arm.
The drive device is a rotation regulating unit that regulates rotation around the second axis when the finger resting portion receives a force in the first direction from a posture along the first axis. Further prepare,
Drive device. The blocking mechanism is
The first blocking mechanism, which is the mechanism, and
A second blocking mechanism at a location different from the first blocking mechanism,
Have at least
The drive device according to claim 1. The second cutoff mechanism cuts off the transmission of the power of the finger resting portion around the rotation axis extending in a direction different from that of the second axis.
The drive device according to claim 2. The drive source that generates power and
A mounting part on which a part of the subject's body is placed and a force is received from the part of the body in the first direction.
A transmission mechanism that transmits the power generated by the drive source to the mounting portion and moves the mounting portion in a second direction facing the first direction.
Equipped with
The transmission mechanism has a cutoff mechanism that cuts off the transmission of the power to the mounting portion when a load is applied in the second direction.
The transmission mechanism is
The primary side member to which power is transmitted from the drive source,
A secondary side member that is connected to the primary side member and transmits the power transmitted from the primary side member to the mounting portion in the connected state.
Have,
The blocking mechanism includes a temporary holding mechanism in which the connected state is released when the load applied to the connecting portion between the primary side member and the secondary side member exceeds a predetermined value.
Drive braking system. The drive device according to any one of claims 1 to 4,
An electrode portion that is placed at a measurement point that is a part of the subject's head and collects the subject's brain waves.
A control device that controls the drive device according to the brain wave collected at the electrode portion, and a control device that controls the drive device.
To prepare
Rehabilitation support system.

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