Rehabilitation apparatus

Abstract

To provide an apparatus whose structure can be simply and inexpensively composed and which enables a patient to independently perform rehabilitation in accordance with the degree of paralysis of the patient in a rehabilitation apparatus used for motor function recovery of the patient's upper limb.SOLUTION: A rehabilitation apparatus includes: a base stand; first, second turning shaft parts rotatably supported by the base stand around a shaft center; first, second movable bodies fixed to the first, second turning shaft parts respectively; first, second operation units provided for upper surfaces of the first, second movable bodies respectively; and a movement mechanism which synchronously rotates the first, second operation units operated by a patient and adjusts positions of the first, second operation units.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a rehabilitation device used for restoring the motor function of the upper limb of a patient whose part of the body is paralyzed due to sequelae of stroke or the like. Specifically, the present invention relates to a rehabilitation device for a hemiplegic patient, in which the paralyzed hand is interlocked with the healthy hand to perform the same movement as the healthy hand by moving the healthy hand.

Background Art

[0002] For a person who has become unable to move the upper limb freely due to damage to muscles, nerves, or the brain, rehabilitation for moving the upper limb is effective for restoring joint movement and improving paralysis. Rehabilitation can be carried out by a therapist accompanying the patient receiving rehabilitation, but in the midst of the declining birthrate and aging population, the number of therapists has been insufficient compared to the number of patients. In addition, the effect of rehabilitation depends on the ability of the therapist. Therefore, in order to reduce the burden on therapists and eliminate the difference due to the ability of therapists and increase the rehabilitation time of patients, there is a need for instruments and devices that allow patients to perform rehabilitation autonomously. In order to reduce the burden on therapists, eliminate the difference due to the ability of therapists, and increase the rehabilitation time of patients, there is a need for instruments and devices that allow patients to perform rehabilitation autonomously.

[0003] Patent Document 1 describes a device for a patient with a hemiplegic upper limb. This device is controlled by a drive motor so that the left grip held by the patient's left hand and the right grip held by the right hand are in symmetric positions, and the hand on the paralyzed side is moved in accordance with the movement of the hand on the healthy side, and the hand on the healthy side and the hand on the paralyzed side are operated in mirror symmetry.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Regarding Patent Document 1, the structure is complex and cannot be configured at low cost. Moreover, the left and right grips are always controlled by drive motors respectively, and the load cannot be adjusted according to the degree of the patient's paralysis.

[0006] In view of such problems, an object of the present invention is to provide an apparatus that has a simple structure and can be configured at low cost, and enables a patient to autonomously perform rehabilitation according to the degree of paralysis.

Means for Solving the Problems

[0007] In order to achieve the above object, the invention according to claim 1 is a rehabilitation apparatus used for the recovery of the motor function of a patient's upper limb, comprising a base, first and second rotating shaft portions rotatably supported by the base around an axis, first and second movable bodies respectively fixed to the first and second rotating shaft portions, first and second operation portions respectively provided on the upper surfaces of the first and second movable bodies, and a moving mechanism for synchronously rotating the first and second operation portions operated by the patient to adjust the positions of the first and second operation portions.

[0008] The invention according to claim 2 is the rehabilitation apparatus according to claim 1, wherein when one of the first and second operation portions is rotated, the other operation portion is configured to rotate to a position that is a left-right mirror image.

[0009] The invention according to claim 3 is the rehabilitation apparatus according to claim 1 or claim 2, wherein the moving mechanism has a first rotating gear fixed to the rotating shaft portion of the first movable body and a second rotating gear fixed to the rotating shaft portion of the second movable body, and the first and second rotating gears are configured to be meshed so that a driving force is transmitted.

[0010] The invention according to claim 4 is the rehabilitation device according to claim 3, wherein the moving mechanism has a plurality of rotating gears arranged in a row between the first rotating gear and the second rotating gear, and the first rotating gear, the second rotating gear, and the plurality of rotating gears are configured to be meshed with each other so that a driving force is transmitted.

[0011] The invention according to claim 5 is the rehabilitation device according to claim 1 or claim 2, wherein on the upper surfaces of the first and second movable bodies, a plurality of sets of operation parts for different types of rehabilitation are arranged at positions that are line-symmetric with respect to the center line that divides the first and second operation parts, and by changing the handle for the operation part, the type of rehabilitation can be selected.

[0012] The invention according to claim 6 is the rehabilitation device according to claim 1 or claim 2, further comprising a load adjustment part for adjusting the load when moving the first and second operation parts.

[0013] The invention according to claim 7 is a rehabilitation device used for the recovery of the motor function of a patient's upper limb, comprising a base, first and second rotating shaft parts rotatably supported by the base around an axis, first and second movable bodies respectively fixed to the first and second rotating shaft parts, first and second operation parts respectively provided on the upper surfaces of the first and second movable bodies, a moving mechanism for synchronously rotating the first and second operation parts operated by the patient to adjust the positions of the first and second operation parts, and a driving motor for transmitting a driving force to the moving mechanism.

[0014] The invention according to claim 8 is the rehabilitation device according to claim 7, wherein when one of the first and second operation parts is rotated, the other operation part is configured to rotate to a position that is a left-right mirror image.

[0015] The invention according to claim 9 is characterized in that, in the rehabilitation device according to claim 7 or claim 8, it has a clutch provided in the drive transmission system between the moving mechanism and the drive motor, and is configured such that whether to transmit the driving force of the drive motor to the moving mechanism can be arbitrarily selected by the user.

[0016] The invention according to claim 10 is characterized in that, in the rehabilitation device according to claim 7 or claim 8, it is configured such that the rotational speed of the drive motor can be arbitrarily changed by the user.

[0017] The invention according to claim 11 is characterized in that, in the rehabilitation device according to claim 7 or claim 8, it includes a potentiometer for detecting the rotation angle of the first movable body or the second movable body, and the movable range of the first movable body or the second movable body detected by the potentiometer is preset by the user, and it is provided with control means for moving the operation unit within the arbitrarily set movable range by controlling the rotation angles of the first and second movable bodies by the drive motor.

[0018] The invention according to claim 12 is characterized in that, in the rehabilitation device according to claim 7 or claim 8, it includes a potentiometer for detecting the rotation angle of the first movable body or the second movable body, and is provided with a counter for counting the number of operation times for rotating the first and second operation units by the user based on the rotation angle of the first movable body or the second movable body detected by the potentiometer.

[0019] The invention according to claim 13 is characterized in that, in the rehabilitation device according to claim 7 or claim 8, it has a stop mode for stopping the rotation of the first movable body and the second movable body for a predetermined time at a predetermined position.

[0020] The invention according to claim 14 is the rehabilitation device according to claim 1 or claim 7, wherein as the first and second operation parts, first and second attachments are detachably installed on the upper surface of the movable body and are for fixing a part of the upper limb to the movable body.

[0021] The invention according to claim 15 is the rehabilitation device according to claim 14, wherein the first and second attachments are each configured as a palm holding part for holding the palm, and include a main body member and a back of hand holding member fixed to the upper surface part of the main body member for holding the back of the hand, and in the vicinity of the palm holding part, a forearm holding part for holding the forearm is arranged on the base.

[0022] The invention according to claim 16 is the rehabilitation device according to claim 14, wherein the first and second attachments are each configured as a thumb holding part for holding the thumb, and in the vicinity of the thumb holding part, a four-finger holding part for holding the index finger, middle finger, ring finger and little finger is arranged on the base.

[0023] The invention according to claim 17 is the rehabilitation device according to claim 1 or claim 7, comprising pace sound generating means that emits intermittent sounds at predetermined intervals corresponding to the pace of rehabilitation and is capable of changing the pitch of the generated intermittent sounds.

[0024] The invention according to claim 18 is the rehabilitation device according to claim 1 or claim 7, comprising pace display means that displays a visual representation corresponding to the pace of rehabilitation on a display part at predetermined time intervals and is capable of changing the time intervals.

[0025] The invention according to claim 19 is the rehabilitation device according to claim 2 or claim 8, further comprising rotation angle detection means for detecting the rotation angle of either the first movable body rotated by operating the first operation unit with the healthy hand of the patient or the second movable body rotated by operating the second operation unit with the healthy hand of the patient with respect to the base, type setting means for setting the type of rehabilitation, and display means, and control means for controlling to display on the display means image images of both the healthy side and the paralyzed side hands based on the rotation angle detected by the rotation angle detection means and the type of rehabilitation set by the type setting means.

[0026] The invention according to claim 20 is the rehabilitation device according to claim 19, wherein the control means controls to display on the display means that an operation of a target operation amount has been performed by the patient.

[0027] The invention according to claim 21 is the rehabilitation device according to claim 20, wherein the control means controls to display on the display means an achievement image corresponding to achievement of the target.

[0028] The invention according to claim 22 is the rehabilitation device according to claim 19, further comprising a receiving unit for receiving the rotation angle data transmitted from the transmitting unit of the rotation angle detection means and a terminal device provided with the display means.

[0029] The invention according to claim 23 is the rehabilitation device according to claim 22, wherein the dedicated application includes a reference table showing the relationship between the data and the image image, and the control means controls to display on the display means using the reference table.

[0030] The invention according to claim 24 is the rehabilitation device according to claim 22, wherein the terminal device is a smartphone, a tablet, or a personal computer.

[0031] The invention according to claim 25 is a rehabilitation device according to claim 2 or claim 8, further comprising a rotation angle detection means for detecting the rotation angle of the first movable body or the second movable body, a rehabilitation type setting means for setting the type of rehabilitation, and a display means. Based on the rotation angle of the first movable body or the second movable body detected by the rotation angle detection means, the display means continuously displays, while switching each time an image of both hands during training corresponding to the type of rehabilitation set by the rehabilitation type setting means is rotated by a predetermined angle. This is the gist of the invention.

[0032] The invention according to claim 26 is a rehabilitation device according to claim 25, further comprising a start-end registration means for registering the start and end of the movement of the movable body, and a control unit that adds to the counter display of the display means on the assumption that the target movement has been achieved when the rotation angle of the movable body detected by the rotation angle detection means reaches from the start of movement to the end of movement. This is the gist of the invention.

[0033] The invention according to claim 27 is a rehabilitation device according to claim 26, further comprising a virtual experience type game application as a means for enhancing the will to achieve the target. The game application is executed in conjunction with the addition of the counter display, and is configured to display the progress of the game on the display means. This is the gist of the invention.

Advantages of the Invention

[0034] According to the invention of claim 1, since the healthy hand serves as a power source for moving the paralyzed hand, training can be performed by the patient alone without the need for the support of an occupational therapist.

[0035] According to the invention of claim 2, when either one of the first and second operation units is rotated, the other operation unit is configured to rotate to a position that is a left-right mirror image. Therefore, by performing bilateral training (both-hand movement), it is known that an associated reaction is more likely to occur and the rehabilitation effect becomes even higher.

[0036] According to the invention described in claim 3, the moving mechanism has a first rotating gear fixed to the rotating shaft portion of the first movable body and a second rotating gear fixed to the rotating shaft portion of the second movable body. Since the first and second rotating gears are configured to be meshed with each other and transmit the driving force, the driving unit can be configured inexpensively and simply, and has high strength and good durability.

[0037] According to the invention described in claim 4, the moving mechanism has a plurality of rotating gears arranged in a row between the first rotating gear and the second rotating gear. Since the first rotating gear, the second rotating gear, and the plurality of rotating gears are configured to be meshed with each other and transmit the driving force, the size of each gear can be reduced, and the entire device can be configured compactly. Also, backlash adjustment of the gears can be performed while keeping the rotating shaft portion fixed.

[0038] According to the invention described in claim 5, on the upper surfaces of the first and second movable bodies, a plurality of sets of operation parts for different types of rehabilitation are arranged at positions that are line-symmetrical with respect to the center line that divides the first and second operation parts. Since it is configured such that the type of rehabilitation can be selected by changing the handle for the operation part, multiple types of rehabilitation can be performed with one device, which is beneficial for patients.

[0039] According to the invention described in claim 6, since a load adjustment unit for adjusting the load when moving the first and second operation parts is provided, this machine can be used as a load training device for mild patients, and the range of target users is further expanded.

[0040] According to the invention described in claim 7, since a drive motor for transmitting the driving force to the moving mechanism is provided, The handle (two operating parts) can be electrically moved, and the usable range can be further expanded according to the patient's symptoms. In addition, since it moves passively, training is possible even for patients whose both hands cannot move, and training with only one hand is also possible. Furthermore, since the power source is not the healthy hand, the healthy hand does not get tired. Therefore, the number of training sessions can be increased. Also, since the movable range is not affected by the patient's will and the operating part can be operated within the set movable range, training can be surely carried out within an effective movable range for training.

[0041] According to the invention described in claim 8, when either one of the first and second operating parts is rotated, the other operating part is configured to rotate to a position that is a left-right mirror image, so the effect of bilateral training is higher.

[0042] According to the invention described in claim 9, it has a clutch provided in the drive transmission system between the moving mechanism and the drive motor, and is configured such that the user can arbitrarily select whether to transmit the driving force of the drive motor to the moving mechanism. Therefore, when the driving force is cut off, it is also possible to perform training to move the paralyzed hand with the healthy hand, and the range of patients who can use it is expanded.

[0043] According to the invention described in claim 10, since the rotation speed of the drive motor can be arbitrarily changed by the user, it is possible to train at a speed according to the patient's condition.

[0044] According to the invention described in claim 11, it is provided with a potentiometer for detecting the rotation angle of the first movable body or the second movable body, and the user can preset the movable range of the first movable body or the second movable body detected by the potentiometer. By controlling the rotation angles of the first and second movable bodies by the drive motor, it is provided with control means for moving the operating part within an arbitrarily set movable range. Therefore, it is possible to train at the rotation angles of the first and second movable bodies according to the patient's condition.

[0045] According to the invention described in claim 12, since it is provided with a potentiometer for detecting the rotation angle of the first movable body or the second movable body, and a counter for counting the number of operations of rotating the first and second operation parts by the user based on the rotation angle of the first movable body or the second movable body detected by the potentiometer, it is effective for confirming and promoting the results of rehabilitation.

[0046] According to the invention described in claim 13, since it is provided with a stop mode for stopping the rotation of the first movable body and the second movable body at a predetermined position for a predetermined time, for example, in the training as shown in FIGS. 8A and 8B, if the rotation of the first movable body and the second movable body is stopped at the maximum range of the joint movable range (the positions shown in FIGS. 8A and 8B) for a predetermined time, the muscles of the joint can be stretched at the stop position, and a stretching effect can be expected. Stretching has effects such as expanding the joint movable range by stretching the muscles. Also, since this rehabilitation device replaces the therapist, the burden on the therapist is reduced.

[0047] According to the invention described in claim 14, as the first and second operation parts, since it is provided with the first and second attachments that are detachably installed on the upper surface of the movable body and are used to fix a part of the upper limb to the movable body, desired training can be performed only by replacing the attachment according to the type of training.

[0048] According to the invention described in claim 15, each of the first and second attachments is configured as a palm holding part for holding the palm, and includes a main body member and a back of the hand holding member fixed to the upper surface part of the main body member for holding the back of the hand. Since a forearm holding part for holding the forearm is arranged on the base in the vicinity of the palm holding part, wrist training can be easily performed only by attaching the attachment as the palm holding part.

[0049] According to the invention described in claim 16, each of the first and second attachments is configured as a thumb holding part for holding the thumb, and since a four-finger holding part for holding the index finger, middle finger, ring finger, and little finger is arranged on the base in the vicinity of the thumb holding part, thumb training can be easily performed only by attaching the attachment as the thumb holding part and the four-finger holding part.

[0050] According to the invention described in claim 17, since it is provided with a pace sound generation means that emits intermittent sounds at predetermined intervals corresponding to the rehabilitation pace and can freely change the pitch at which the intermittent sounds are generated, by moving the training location according to the rhythm of the sound, a certain number of training sessions can be completed within a determined time.

[0051] According to the invention described in claim 18, since it is provided with a pace display means that displays a visual display corresponding to the rehabilitation pace on the display unit at predetermined time intervals and can freely change the time intervals, by moving the training location according to the visual display, a certain number of training sessions can be completed within a determined time.

[0052] According to the invention described in claim 19, since it is provided with a control means that controls the display means to display the image of the hands on both the healthy side and the paralyzed side based on the rotation angle detected by the rotation angle detection means and the type of rehabilitation set by the type setting means, rehabilitation called motor observation can be performed by visually observing the image of the paralyzed hand moving normally together with the healthy hand, and a good effect on the brain can be expected.

[0053] According to the invention described in claim 20, since it is for displaying on the display means that an operation of the target operation amount has been performed by the patient, it is effective for confirming and promoting the results of rehabilitation.

[0054] According to the invention described in claim 21, since it is for displaying an achievement image corresponding to the achievement of the target on the display means, it is effective for confirming and promoting the results of rehabilitation.

[0055] According to the invention described in claim 22, since it is provided with a terminal device provided with a receiving unit that receives the rotation angle data transmitted from the transmitting unit of the rotation angle detection means and a display means, it is convenient to process the rotation angle data by the terminal device and display the result.

[0056] According to the invention described in claim 23, the dedicated application includes a reference table showing the relationship between the rotation angle data and the image, and the control means can easily display the image of both the healthy hand and the paralyzed hand on the display means by using the reference table.

[0057] According to the invention described in claim 24, since the terminal device is a smartphone, tablet or personal computer, the user can use the terminal device that is easily accessible, which is convenient.

[0058] According to the invention described in claim 25, based on the rotation angle of the first movable body or the second movable body detected by the rotation angle detection means, the display means continuously switches and displays the image of both hands during training corresponding to the type of rehabilitation set by the type setting means every time the image is rotated by a predetermined angle. Therefore, without using a camera or the like, with a simple configuration and at low cost, the image of both hands linked to the movement of the patient's healthy hand can be displayed.

[0059] According to the invention described in claim 26, the start-end registration means for registering the start and end of the movement of the movable body, and when the rotation angle of the movable body detected by the rotation angle detection means reaches from the start of the movement to the end of the movement, the counter display of the display means is incremented as if the target movement has been achieved. Therefore, it is effective for confirming and promoting the rehabilitation result.

[0060] According to the invention described in claim 27, a virtual experience type game application is provided as a means for enhancing the motivation to achieve the goal. The game application is configured to be executed in conjunction with the addition of the counter display and to display the progress of the game on the display means. Therefore, it is effective for confirming and promoting the rehabilitation result.

Brief Description of the Drawings

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BEST MODE FOR CARRYING OUT THE INVENTION

[0062] Next, a first embodiment embodying the present invention will be described with reference to the attached drawings.

[0063] 〔Overall Configuration of Rehabilitation Device 1〕 FIG. 1 is a perspective view showing an example of the external appearance configuration of the entire rehabilitation device 1. The rehabilitation device 1 is a device used by being worn on a patient as a trainer who performs body movement training, includes a box-shaped base 17, a power switch 55 is arranged on the right side surface of the base 17, and handles 24 are provided on the left and right side surfaces of the base 17. Also, first and second movable bodies 11 and 12 that rotate around rotation shaft portions 19 and 20 during training to move the joints of the patient are arranged on the left and right on the top plate 18 of the base 17.

[0064] Specifically, the rehabilitation device 1 includes first and second movable bodies 11 and 12, first operation parts 11a, 11b, 11c and second operation parts 12a, 12b, 12c provided on the upper surfaces of the first and second movable bodies 11 and 12 for fixing a part of the patient's body, and drive motors (not shown) that apply rotational force to the first and second movable bodies 11 and 12 respectively.

[0065] The types of rehabilitation that can be selected by this rehabilitation device are: (1) wrist training, (2) elbow and shoulder training, (3) finger training. By changing the grips on the first operation parts 11a, 11b, 11c and second operation parts 12a, 12b, 12c provided in plurality on the first and second movable bodies 11 and 12, the type of rehabilitation can be selected. Also, according to the type of training, wrist holding parts 21 and 22 and thumb holding parts 25 and 26 are selectively added and used. The wrist holding parts 21 and 22 and the thumb holding parts 25 and 26 are arranged on the left and right on the top plate 18 of the base 17. Details regarding the selection of the type of rehabilitation will be described later.

[0066] Also, as shown in FIG. 1, on the top plate 18 of the base 17, an operation panel part 50 is provided at a position that is easy for the user to see during training. The operation panel part 50 is used when the user gives instructions for starting and ending training on the rehabilitation device 1 and makes various settings, etc., and includes a start / stop key 52, a setting key 53, a display part 54, etc. The training of the rehabilitation device 1 can be selected in two ways (electric / manual mode) by whether to transmit the driving force of the drive motor to the moving (rotating) mechanism of the operation part according to the user settings using the setting key 53.

[0067] [Control System] As shown in FIG. 2, the control part 51 as the control means has a CPU, a memory, etc., and the control part 51 is connected to an operation panel 50, a drive motor 31, a clutch 32, a potentiometer 35, a power switch 55, a buzzer 56, etc.

[0068] [Configuration of the Driving Mechanism] FIG. 3 shows an overview of the drive mechanism of the rehabilitation device 1 and is a perspective plan view from the top plate 18 (see FIG. 1) side of the base 17.

[0069] As shown in FIG. 3, the rehabilitation device 1 includes a box-shaped base 17, and the first and second movable bodies 11 and 12 are arranged on the left and right on the top plate 18 of the base 17. The first movable body 11 (the left movable body) is horizontally arranged on the top plate 18, integrally fixed to the rotation shaft portion 20, and includes first operation portions 11a, 11b, and 11c erected on the first movable body 11.

[0070] The rotation shaft portion 20 is arranged along the vertical direction, one end is connected to the first movable body 11, and the other end is arranged inside the casing 17. And since the rotation shaft portion 20 is rotatably supported by a bearing fixed to the top plate 18 of the base 17, the first movable body 11 can rotate about the rotation shaft portion 20.

[0071] The first operation portions 11a and 11b are left gripping portions (specifically, left grips) provided on the first movable body 11 and gripped by the patient's left hand. As shown in FIG. 1, they are long in the vertical direction, extend upward from the first movable body 11, and are fixed to the first movable body 11 at a position away from the rotation center (rotation shaft portion 20) of the first movable body 11. Incidentally, the first operation portion 11c is a plate-like member that binds the index finger, middle finger, ring finger, and little finger of the patient's left hand in a state where they are aligned and extended with a fixing belt or the like.

[0072] The second movable body 12 (the right movable body) is horizontally arranged on the top plate 18, integrally fixed to the rotation shaft portion 19, and includes second operation portions 12a, 12b, and 12c erected on the second movable body 12.

[0073] The rotation shaft portion 19 is arranged along the vertical direction, one end is connected to the second movable body 12, and the other end is arranged inside the casing 17. And since the rotation shaft portion 19 is rotatably supported by a bearing fixed to the top plate 18 of the base 17, the second movable body 12 can rotate about the rotation shaft portion 19.

[0074] The second operation units 12a and 12b are right gripping parts (specifically, right grips) provided on the second movable body 12 and gripped by the patient's right hand. As shown in FIG. 1, they are long in the vertical direction, extend upward from the second movable body 12, and are fixed to the second movable body 12 at a position away from the rotation center (rotation shaft portion 19) of the second movable body 12. Incidentally, the second operation unit 12c is a plate-like member that binds the index finger, middle finger, ring finger, and little finger of the patient's right hand in a state where they are aligned and extended with a fixing belt or the like.

[0075] The movement mechanism 15 has a first rotating gear 13 fixed to the rotation shaft portion 20 of the first movable body 11 and a second rotating gear 14 fixed to the rotation shaft portion 19 of the second movable body 12, and further has a plurality of rotating gears 10a, 10b, 10c, 10d arranged in a row between the first rotating gear 13 and the second rotating gear 14. The first rotating gear 13, the second rotating gear 14, and the plurality of rotating gears 10a, 10b, 10c, 10d are configured to be meshed with each other so that the driving force is transmitted. The movement mechanism 15 is a mechanism that synchronously rotates the first operation units 11a, 11b, 11c and the second operation units 12a, 12b, 12c operated by the patient to adjust the positions of the first and second operation units. Further, when one of the first and second operation units is rotated, the other operation unit is configured to rotate to a position that is a left-right mirror image.

[0076] Since the movement mechanism 15 has a plurality of rotating gears 10a, 10b, 10c, 10d, the size of each gear can be reduced, and the entire device can be configured compactly. Also, backlash adjustment of the gears can be performed while the rotation shaft portions 19 and 20 are fixed.

[0077] According to this configuration, for example, when the patient's left hand is the healthy hand and the right hand is the paralyzed hand, if the first operation unit 11b is grasped by the patient's left hand and the first movable body 11 is rotated in the direction of arrow A, accordingly, the first rotating gear 13 also rotates in the direction of arrow A. Due to the rotation of the first rotating gear 13 in the direction of arrow A, the rotating gear 10a rotates in the direction of arrow B. Due to the rotation of the rotating gear 10a in the direction of arrow B, the rotating gear 10b rotates in the direction of arrow C. Also, due to the rotation of the rotating gear 10b in the direction of arrow C, the rotating gear 10c rotates in the direction of arrow D. Further, due to the rotation of the rotating gear 10c in the direction of arrow D, the rotating gear 10d rotates in the direction of arrow E. Moreover, due to the rotation of the rotating gear 10d in the direction of arrow E, the second rotating gear 14 rotates in the direction of arrow F, and accordingly, the second movable body 12 is also rotated in the direction of arrow F. Therefore, the second operation unit 12b provided on the upper surface of the second movable body 12 and grasped by the patient's right hand is rotated in the direction of arrow F. That is, when the first operation unit 11b is rotated in the direction of arrow A (clockwise), due to the action of the movement mechanism 15 composed of the first rotating gear 13, the rotating gear 10a, the rotating gear 10b, the rotating gear 10c, the rotating gear 10d, and the second rotating gear 14, the second operation unit 12b is rotated in the direction of arrow F (counterclockwise).

[0078] The training of the rehabilitation device 1 can be selected in two ways (electric / magnetic) whether to transmit the driving force of the driving motor 31 to the movement (rotation) mechanism of the operation unit or not through user settings using the setting key 53 on the operation panel 50. The above-mentioned training is an explanation when the mode (manual mode) that does not transmit the driving force of the driving motor 31 to the movement mechanism 15 is selected.

[0079] In the manual mode, since the healthy hand serves as the power source for moving the paralyzed hand, the support of an occupational therapist is not required, and training by a single patient is possible. Also, it is known that by performing bilateral training (both-handed movement), the associated reaction is more likely to occur, and the rehabilitation effect becomes even higher. Further, when either one of the first and second operation units is rotated, the other operation unit is configured to rotate to a position that is a left-right mirror image.

[0080] Next, a case where a mode (electric mode) for transmitting the driving force of the drive motor 31 to the moving mechanism 15 is selected will be described. As shown in FIG. 3, the drive transmission mechanism 30 is provided with a clutch 32 in the drive transmission system between the moving mechanism 15 and the drive motor 31, and the electric / manual mode is switched by switching the clutch 32 between the connected and disconnected states.

[0081] According to this, at the time of cutting off the driving force, it becomes possible to perform training to move the paralyzed hand with the healthy hand, and the range of patients who can use it is widened.

[0082] Specifically, the drive transmission mechanism 30 includes a drive motor 31, a pulley 31a attached to the rotation shaft of the drive motor 31, a pulley 31b disposed at a distance from the pulley 31a, and a timing belt 33 stretched between these pulleys 31a and 31b. Further, a gear 31c is attached to the common rotation shaft 31d of the pulley 31b and meshes with a gear 32a attached to the rotation shaft 32c of the clutch 32. Further, a gear 32b is attached to the common rotation shaft 32c of the gear 32a and meshes with the rotation gear 10c in the moving mechanism 15. When the drive motor 31 rotates and drives, the driving force thereof is transmitted to the gear 31c via the pulley 31a, the timing belt 33, the pulley 31b, and the rotation shaft 31d. Further, it is transmitted from the gear 31c to the gear 32b and the rotation gear 10c via the gear 32a and the rotation shaft 32c. Note that a tension applying roller 34 for applying tension is provided on the timing belt 33. As a result, the driving force and the rotation direction of the drive motor 31 are transmitted to the first operation unit 11b and the second operation unit 12b via the moving mechanism 15.

[0083] As shown in FIG. 3, inside the base 17, there is a potentiometer 35 for detecting the rotation angle of the first movable body 11. A rotary gear 35a is attached to the rotary shaft of the potentiometer 35, and the rotary gear 35a meshes with the first rotary gear 13. Therefore, the rotation angle of the first movable body 11 can be detected. The patient presets the movable range of the first movable body 11 or the second movable body 12 detected by the potentiometer 35, and controls the rotation angles of the first and second movable bodies 11 and 12 by the drive motor 31. Thus, the control means (control unit 51) can move the operation unit within an arbitrarily set movable range. Also, for storing in the potentiometer 35, compared with direct input, the actual degree is easier to understand, and the setting is easy. Also, it is provided with a counter, and based on the rotation angle of the first movable body 11 or the second movable body 12 detected by the potentiometer 35, the number of operation times for the user to rotate the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c is counted.

[0084] Since it is provided with control means for moving the operation unit within an arbitrarily set movable range, it is possible to train with the rotation angles of the first and second movable bodies 11 and 12 according to the patient's condition. Also, since it is provided with a counter for counting the number of operation times for the user to rotate the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c based on the rotation angle of the first movable body or the second movable body detected by the potentiometer 35, it is effective for confirming and promoting the results of rehabilitation. Incidentally, in the rehabilitation device 1 shown in FIG. 3, even when the drive motor 31 is not provided in terms of configuration, it may be configured to be provided with a counter for counting the number of operation times for the user to rotate the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c based on the rotation angle of the first movable body 11 or the second movable body 12 detected by the potentiometer 35. Thereby, it is effective for confirming and promoting the results of rehabilitation.

[0085] Furthermore, during training in the electric mode, a stop mode is provided to stop the rotation of the first movable body 11 and the second movable body 12 at a predetermined position for a predetermined time. Specifically, a potentiometer 35 for detecting the rotation angle of the first movable body 11 or the second movable body 12 is provided, and the rotation of the first and second movable bodies 11 and 12 is temporarily stopped at each preset predetermined rotation angle, held for a predetermined time, and then rotated again. This is repeated in a stretch mode. Note that the preset predetermined rotation angle also includes cases where it is controlled to be automatically calculated based on the movable range set by the operator.

[0086] For example, in the training as shown in FIGS. 8A and 8B, the rotation of the first movable body 11 and the second movable body 12 is stopped at the maximum range of the joint movable range (the positions shown in FIGS. 8A and 8B) for a predetermined time. According to this, since the muscles of the joint can be stretched at the stop position, a stretch effect can be expected. Stretching has effects such as expanding the joint movable range by stretching the muscles. In addition, since the rehabilitation device 1 substitutes for a therapist, the burden on the therapist is reduced.

[0087] The means for detecting the rotation angle of the movable body 11 is not limited to the potentiometer 35, and an encoder may be attached to the rotation shaft of the movable body 11 and configured to read the rotation pulse by a photosensor. In addition, an acceleration sensor or a gyro sensor may be used.

[0088] Furthermore, as shown in FIG. 3, a load adjustment unit 36 is provided to adjust the load when the patient moves the first operation units 11a, 11b, 11c and the second operation units 12a, 12b, 12c. The load adjustment unit 36 is composed of, for example, a rotating gear and is engaged with any one of the moving mechanisms 15 (the rotating gear 10a in the embodiment), and the load can be freely changed by pressing a friction member against the shaft or the like.

[0089] According to this, this machine can be used for load training for mild patients, and the range of target users is further expanded.

[0090] Also, the moving speed when the patient moves the first operation units 11a, 11b, 11c and the second operation units 12a, 12b, 12c can be arbitrarily changed. The moving speed is changed by the control means for the rotational speed of the drive motor 31.

[0091] According to this, it is possible to train at a speed according to the state of the patient.

[0092] As described above, since the drive motor 31 that transmits the driving force to the moving mechanism 15 is provided, the handles (two operation units) can be electrically moved, and the range of use can be further widened according to the symptoms of the patient. Also, since it moves passively, training is possible even for patients whose both hands cannot move, and training with only one hand is also possible. Furthermore, since the power source is not the healthy hand, the healthy hand does not get tired. Therefore, the number of training sessions can be increased. Also, the movable range is not affected by the will of the patient, and the operation unit can be operated within the set movable range.

[0093] 〔Training operation of the rehabilitation device 1〕 Next, the training operation of the rehabilitation device 1 will be described.

[0094] When starting the training operation using the rehabilitation device 1, the patient first needs to set the training content on the operation panel unit 50. The setting of the training content includes selection of the electric / manual mode, selection of the type of rehabilitation, setting of the up / down counter unit that counts up and counts down the rotation of the first operation units 11a, 11b, 11c and the second operation units 12a, 12b, 12c at a fixed cycle of the rotation angle, setting of the rotation speed, etc. When the type of rehabilitation is selected, the movable ranges (rotation angles) of the first and second movable bodies 11 and 12 corresponding to the type of rehabilitation are automatically set to fixed values, but the patient can also change them to arbitrary angles. Then, when the electric mode is selected, after the setting of the training content is completed, when the patient presses the start / stop key 52, the rotation of the first operation units 11a, 11b, 11c and the second operation units 12a, 12b, 12c is started by the driving force of the drive motor. When the start / stop key 52 is pressed again, the rotation stops.

[0095] As rehabilitation types that the rehabilitation device 1 can select, there are (1) wrist training, (2) elbow and shoulder training, and (3) finger training. By changing the grips on the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c provided in plurality on the first and second movable bodies 11, 12, the types of rehabilitation can be selected. Incidentally, on the upper surfaces of the first and second movable bodies 11, 12, a plurality of sets (three sets) of the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c are arranged at positions that are line-symmetrical with respect to the center line that bisects the first operation parts 11a, 11b, 11c and the second operation parts 12a, 12b, 12c.

[0096] According to this, multiple types of rehabilitation can be performed with one device, which is beneficial for patients.

[0097] First, (1) wrist training will be described. As shown in FIG. 4A, the first operation part 11a is gripped by the left hand 5 of the patient, and the first movable body 11 is rotated in the direction of arrow H about the rotation shaft part 20. At the same time, the second operation part 12a is gripped by the right hand 6 of the patient, and the second movable body 12 is rotated in the direction of arrow I about the rotation shaft part 19. FIG. 4B shows the state after rotation. Next, the first and second operation parts 11a, 12a are rotated in the reverse direction. As shown in FIG. 4B, the first operation part 11a is gripped by the left hand 5 of the patient, and the first movable body 11 is rotated in the direction of arrow J about the rotation shaft part 20. At the same time, the second operation part 12a is gripped by the right hand 6 of the patient, and the second movable body 12 is rotated in the direction of arrow K about the rotation shaft part 19. Thereafter, this operation is repeated. According to this, the flexion and extension of the wrist can be effectively performed, which is effective for rehabilitation.

[0098] Next, the training of (2) elbow and shoulder will be described. As shown in FIG. 5A, the first operating portion 11b is gripped by the patient's left hand 5, and the first movable body 11 is rotated about the rotation shaft portion 20 in the direction of arrow L. At the same time, the second operating portion 12b is gripped by the patient's right hand 6, and the second movable body 12 is rotated about the rotation shaft portion 19 in the direction of arrow M. FIG. 5B shows the state after rotation. Next, the first and second operating portions 11b and 12b are rotated in the reverse direction. As shown in FIG. 5B, the first operating portion 11b is gripped by the patient's left hand 5, and the first movable body 11 is rotated about the rotation shaft portion 20 in the direction of arrow N. At the same time, the second operating portion 12b is gripped by the patient's right hand 6, and the second movable body 12 is rotated about the rotation shaft portion 19 in the direction of arrow P. Thereafter, this operation is repeated. According to this, the flexion and extension of the elbow and shoulder can be effectively performed, which is effective for rehabilitation.

[0099] Next, the training of (3) fingers will be described. As shown in FIG. 6A, the index finger, middle finger, ring finger, and little finger of the patient's left hand are aligned and extended on the first operating portion 11c which is a plate-like member, and are bound by a fixing belt or the like. Then, the first movable body 11 is rotated about the rotation shaft portion 20 in the direction of arrow Q. At this time, the left wrist is held by the wrist holding portion 21, and the left thumb is held by the thumb holding portion 25. At the same time, the index finger, middle finger, ring finger, and little finger of the patient's right hand are aligned and extended on the second operating portion 12c which is a plate-like member, and are bound by a fixing belt or the like. Then, the second movable body 12 is rotated about the rotation shaft portion 19 in the direction of arrow R. At this time, the right wrist is held by the wrist holding portion 22, and the right thumb is held by the thumb holding portion 26.

[0100] Next, rotate the first and second operation parts 11c and 12c in opposite directions. As shown in FIG. 6B, with the index finger, middle finger, ring finger, and little finger of the patient's left hand aligned and extended on the first operation part 11c which is a plate-shaped member, and while being bound by a fixing belt or the like, rotate the first movable body 11 around the rotation shaft part 20 in the direction of arrow S. At this time, the left wrist remains held by the wrist holding part 21, and the left thumb remains held by the thumb holding part 25. At the same time, with the index finger, middle finger, ring finger, and little finger of the patient's right hand aligned and extended on the second operation part 12c which is a plate-shaped member, and while being bound by a fixing belt or the like, rotate the second movable body 12 around the rotation shaft part 19 in the direction of arrow T. At this time, the right wrist remains held by the wrist holding part 22, and the right thumb remains held by the thumb holding part 26. Thereafter, repeat this operation. According to this, flexion and extension of the fingers can be effectively performed, which is effective for rehabilitation.

[0101] 〔Index of Pace during Training〕 Next, the index of the rehabilitation pace during training will be described.

[0102] Regarding the index of the rehabilitation pace during training, there are two means: an auditory means and a visual means. First, for the auditory means, it is provided with a pace sound generation means that emits intermittent sounds at predetermined intervals corresponding to the rehabilitation pace and can freely change the generation pitch of the intermittent sounds. For example, it is configured as a metronome function in which the user sets a time interval (1 second, 2 seconds, 3 seconds, etc.) and the buzzer 56 sounds at the set time interval.

[0103] According to this, by moving the training part in accordance with the rhythm of the sound, a certain number of training times can be completed within a determined time.

[0104] Next, for the visual means, there is provided a pace display means for displaying a visual display corresponding to the rehabilitation pace on the display unit 54 at a predetermined time interval. For example, it is configured such that the count-up or count-down display is switched at a predetermined time interval. Note that the count-up or count-down display may be configured to be a pop-up display. Note that a pop-up is a display element that appears so as to jump to the frontmost position on the operation screen. It appears so as to be covered by other elements that are already displayed and is used to convey a message to the user. Also, the display on the display unit 54 may be configured to be displayed using the screen of a personal computer or a tablet by wireless communication or the like from the rehabilitation device 1.

[0105] According to this, by moving the training part in accordance with the visual display, a certain number of training times can be completed within a determined time.

[0106] 〔Second Embodiment〕 Regarding the second embodiment shown below, parts different from the above-described first embodiment will be described. Regarding parts common to the above-described first embodiment, the description will be omitted and the same reference numerals are given.

[0107] FIG. 7 is a perspective view showing an example of the external configuration of the entire rehabilitation device 1 in the second embodiment. In the first embodiment of FIG. 1, the first and second operation parts 11a and 12a used for wrist training are formed to extend upward from the first and second movable bodies 11 and 12 and are left and right grip parts (specifically, left and right grips) that are gripped by the patient's left and right hands. However, in the second embodiment of FIG. 7, instead of the first and second operation parts 11a and 12a, the first and second operation parts 11d and 12d are attached on the first and second movable bodies 11 and 12. The first and second operation parts 11d and 12d are plate-like members that are bound by a fixing belt or the like with the patient's left and right thumbs, index fingers, middle fingers, ring fingers, and little fingers aligned and extended. Note that when performing wrist training, the operation parts 11c and 12c used for finger training are removed.

[0108] Next, the training operation (wrist training) of the rehabilitation device 1 in the second embodiment will be described.

[0109] As shown in FIG. 8A, with the thumb, index finger, middle finger, ring finger, and little finger of the patient's left hand aligned and extended on the first operation part 11d which is a plate-like member, they are tied up with a fixing belt or the like, and the first movable body 11 is rotated in the direction of arrow S around the rotation shaft part 20. At this time, the wrist of the left hand is held by the wrist holding part 21. At the same time, with the thumb, index finger, middle finger, ring finger, and little finger of the patient's right hand aligned and extended on the second operation part 12d which is a plate-like member, they are tied up with a fixing belt or the like, and the second movable body 12 is rotated in the direction of arrow T around the rotation shaft part 19. At this time, the wrist of the right hand is held by the wrist holding part 22. Note that when the fingers are extended, the movable range of the wrist becomes wider, and the rehabilitation effect becomes greater.

[0110] Next, the first and second operation parts 11d and 12d are rotated in the reverse direction. As shown in FIG. 8B, with the thumb, index finger, middle finger, ring finger, and little finger of the patient's left hand aligned and extended on the first operation part 11c which is a plate-like member, while being tied up with a fixing belt or the like, the first movable body 11 is rotated in the direction of arrow V around the rotation shaft part 20. At this time, the wrist of the left hand remains held by the wrist holding part 21. At the same time, with the thumb, index finger, middle finger, ring finger, and little finger of the patient's right hand aligned and extended on the second operation part 12c which is a plate-like member, while being tied up with a fixing belt or the like, the second movable body 12 is rotated in the direction of arrow W around the rotation shaft part 19. At this time, the wrist of the right hand remains held by the wrist holding part 22. Thereafter, this operation is repeated. According to this, the flexion and extension of the wrist can be effectively performed, which is effective for rehabilitation.

[0111] [Third Embodiment] FIG. 13 is a perspective view showing an example of the external configuration of the entire rehabilitation device 1 in the third embodiment. Note that, for parts common to the above-described first embodiment, the description is omitted and the same reference numerals are used. Instead of the first and second operation units 11a, 11b, 11c, 12a, 12b, 12c in the above-described first embodiment, first and second attachments 81, 82 are detachably installed on the upper surfaces of the movable bodies 11, 12 for fixing a part of the body to the movable bodies 11, 12. Note that the installation of the first and second attachments 81, 82 on the upper surfaces of the movable bodies 11, 12 is fixed by thumb screws 84c, 84d and fixing screws 84a, 84b for positioning pins.

[0112] Further, the first and second attachments 81, 82 are each configured as a palm holding part for holding the palm, and include plate-shaped body members 811, 821 and belt members 83a, 83b fixed to the upper surface parts of the plate-shaped body members 811, 812 for holding the back of the hand. In the vicinity of the palm holding part, forearm holding parts 211, 222 for holding the forearm are arranged on the base 17. Note that the installation of the forearm holding parts 211, 222 on the upper surface of the base 17 is fixed by thumb screws 85a, 85c and fixing screws 85b, 85d for positioning pins.

[0113] Next, the training operation of the rehabilitation device 1 in the third embodiment will be described. As shown in FIG. 14A, the left and right palms of the patient are respectively placed on the plate-shaped body members 811, 821, and the back of the hand is fixed with the belt members 83a, 83b. Further, the left and right forearms of the patient are respectively placed on the forearm holding parts 211, 222, and the forearms are fixed with the belt members 83c, 83d. In this state, the first movable body 11 is rotated in the direction of arrow AA about the rotation shaft part 20 together with the left palm. Further, the second movable body 12 is rotated in the direction of arrow BB about the rotation shaft part 19 together with the right palm.

[0114] Next, rotate the first and second movable bodies 11 and 12 in opposite directions. As shown in FIG. 14B, place the palms of the patient's left and right hands on the plate-shaped body members 811 and 821 respectively, fix the backs of the hands with the belt members 83a and 83b, and place the patient's left and right forearms on the forearm holding portions 211 and 222 respectively. While fixing the forearms with the belt members 83c and 83d, rotate the first movable body 11 together with the palm of the left hand about the rotation shaft portion 20 in the direction of arrow CC. Also, rotate the second movable body 12 together with the palm of the right hand about the rotation shaft portion 19 in the direction of arrow DD. Thereafter, repeat this operation.

[0115] 〔Fourth Embodiment〕 FIG. 15 is a perspective view showing an example of the external configuration of the entire rehabilitation device 1 in the fourth embodiment. Note that descriptions of parts common to the above-described first embodiment are omitted, and the same reference numerals are used. Instead of the first and second operation portions 11a, 11b, 11c, 12a, 12b, and 12c in the above-described first embodiment, first and second attachments 91 and 92 are detachably installed on the upper surfaces of the movable bodies 11 and 12 for fixing a part of the body to the movable bodies. Note that the installation of the first and second attachments 91 and 92 on the upper surfaces of the movable bodies 11 and 12 is fixed by thumb screws 86a, 86b, etc.

[0116] Also, the first and second attachments 91 and 92 are each configured as a thumb holding portion for holding the thumb. In the vicinity of the thumb holding portion, on the base 17, four-finger holding portions 93 and 94 for holding the index finger, middle finger, ring finger, and little finger are arranged. Further, grooves 911 and 922 for inserting and holding the thumb are formed on the upper surface of the thumb holding portion. Note that the installation of the four-finger holding portions 93 and 94 on the upper surface of the base 17 is fixed by thumb screws 86c and 86d.

[0117] Next, the training operation of the rehabilitation device 1 in the fourth embodiment will be described. As shown in FIG. 16A, insert the patient's left and right thumbs into the grooves 911 and 922 of the thumb holding portions 91 and 92 respectively, and insert the index finger, middle finger, ring finger, and little finger into the four-finger holding portions 93 and 94. Also, place the patient's left and right forearms on the forearm holders 211 and 222 respectively. In this state, rotate the first movable body 11 together with the left thumb about the rotation shaft portion 20 in the direction of arrow EE. Also, rotate the second movable body 12 together with the right thumb about the rotation shaft portion 19 in the direction of arrow FF.

[0118] Next, rotate the first and second movable bodies 11 and 12 in the opposite directions. As shown in FIG. 16B, insert the patient's left and right thumbs into the grooves 911 and 922 of the thumb holders 91 and 92 respectively, insert the four fingers of the index finger, middle finger, ring finger and little finger into the four-finger holders 93 and 94, and with the patient's left and right forearms placed on the forearm holders 211 and 222 respectively, rotate the first movable body 11 together with the left thumb about the rotation shaft portion 20 in the direction of arrow GG. Also, rotate the second movable body 12 together with the right thumb about the rotation shaft portion 19 in the direction of arrow HH. Thereafter, repeat this operation.

[0119] [Fifth Embodiment] FIG. 17 is a perspective view showing an example of the external configuration of the entire rehabilitation device 1 in the fifth embodiment. Note that the description of the parts common to the above-described first embodiment is omitted, and the same reference numerals are used. Instead of the first and second operation parts 11a, 11b, 11c, 12a, 12b, 12c in the above-described first embodiment, the handles 103 and 104 transmit rotational drive to the rotation shaft portions 19 and 20 via bevel gears 101a, 101b, 102a, 102b. Specifically, the handles 103 and 104 are integrally provided on the bevel gears 102a and 102b respectively. The rotation shafts 102c and 102d of the bevel gears 102a and 102b are rotatably supported by the support portions 105a and 105b. The bevel gears 102a and 102b are engaged with the bevel gears 101a and 101b, and transmit the rotational drive of the handles 103 and 104 to the rotation shaft portions 19 and 20 via the rotation shafts 101c and 101d of the bevel gears 101a and 101b. Note that the rotation shafts 101c and 101d of the bevel gears 101a and 101b and the rotation shaft portions 19 and 20 are detachably fixed.

[0120] Next, the training operation of the rehabilitation device 1 in the fifth embodiment will be described. As shown in FIG. 18A, the handles 103 and 104 are grasped by the patient's left and right hands 5 and 6 and rotated in the left-right direction. FIG. 18B shows a state where it is rotated by about 180°. Thereafter, this operation is repeated.

[0121] [Sixth Embodiment] FIG. 19 is a perspective view showing an example of the external configuration of the entire rehabilitation device 1 in the sixth embodiment. The sixth embodiment is a modification of the fifth embodiment. A major difference between the sixth embodiment and the fifth embodiment is that the sixth embodiment does not use the bevel gears 101a, 101b, 102a, and 102b in the fifth embodiment. Therefore, the entire rehabilitation device 1 is propped up on the legs 106a and 106b so that the operator can operate the handles 103 and 104 in the horizontal direction. Note that the rotation shafts 108c and 108d of the rotating bodies 108a and 108b to which the handles 103 and 104 are attached and the rotating shaft portions 19 and 20 are directly and detachably fixed.

[0122] [Other Embodiments] Regarding the other embodiments shown below, since the configuration of the moving mechanism 15 is different from that of the first embodiment described above, the different parts will be described. Regarding the parts common to the first embodiment described above, the description will be omitted and the same reference numerals are attached.

[0123] (1) Other Embodiment 1 As shown in FIG. 9, the moving mechanism 15a in the other embodiment 1 has a first rotating gear 13 fixed to the rotating shaft portion 20 of the first movable body 11 and a second rotating gear 14 fixed to the rotating shaft portion 19 of the second movable body 12. The first and second rotating gears 13 and 14 are configured to be meshed with each other so that the driving force is transmitted.

[0124] According to this, the drive unit can have a simple configuration and has high strength and good durability.

[0125] (2) Other Embodiment 2 As shown in FIG. 10, in another embodiment 2, the moving mechanism 15b includes a first pulley 61 provided on the rotating shaft portion 20 of the first movable body 11, a second pulley 62 disposed apart from the first pulley 61, a first belt 65 wound between the first pulley 61 and the second pulley 62, a fourth pulley 64 provided on the rotating shaft portion 19 of the second movable body 12, a third pulley 63 disposed apart from the fourth pulley 64, a second belt 66 wound between the fourth pulley 64 and the third pulley 63, a first synchronization gear 67 provided coaxially with the second pulley 62, and a second synchronization gear 68 provided coaxially with the third pulley 63. The first synchronization gear 67 and the second synchronization gear 68 are engaged with each other to transmit the driving force. (3) Another Embodiment 3 As shown in FIG. 11, in another embodiment 3, the moving mechanism 15c includes a first pinion 71a provided on the rotating shaft portion 20 of the first movable body 11, a second pinion 72a provided on the rotating shaft portion 19 of the second movable body 12, and a common rack 73a having a first tooth portion 75a and a second tooth portion 76a in the inner opening. The first pinion 71a and the second pinion 72a are respectively engaged with the first tooth portion 75a and the second tooth portion 76a to transmit the driving force. (4) Another Embodiment 4 As shown in FIG. 12, in another embodiment 4, the moving mechanism 15d includes a first pinion 71b provided on the rotating shaft portion 20 of the first movable body 11, a second pinion 72b provided on the rotating shaft portion 19 of the second movable body 12, and a common rack 73b having a first tooth portion 75b and a second tooth portion 76b on two sides of the outer peripheral portion. The first pinion 71b and the second pinion 72b are respectively engaged with the first tooth portion 75b and the second tooth portion 76b to transmit the driving force.

[0126] In the above description, when the electric mode for transmitting the driving force of the drive motor 31 to the moving mechanism 15 is selected, it has been described that the driving force is always transmitted both during bending and stretching during training. However, the present invention is not limited to this, and it may be controlled such that the driving force is transmitted during either bending or stretching, and not transmitted during the other. Further, it can be used as mirror therapy by placing a mirror in the center.

[0127] 〔Expansion System of the Rehabilitation Device 1〕 Next, a system for expanding the functions of the rehabilitation device 1 described above will be explained. In the above-described rehabilitation device 1, bilateral training (both-handed movement) can be performed, and when either the first or second operation unit is rotated, the other operation unit is configured to rotate to a position that is a left-right mirror image. It is known that these enhance the rehabilitation effect even further.

[0128] Furthermore, as a rehabilitation method for hemiplegia, there is a technique called "mirror therapy" in which the movement of the healthy side is observed visually using a mirror. Rehabilitation that visually observes the state in which the paralyzed side is moving normally is called "motor observation" and is expected to have a beneficial effect on the brain. The expansion system of the rehabilitation device 1 in the present invention is configured to be able to introduce the effect of "motor observation" into training with a simple configuration.

[0129] 〔Overall Configuration of the Expansion System〕 In addition to the basic configuration of the above-described rehabilitation device 1, the expansion system includes a terminal device 41 such as a smartphone, tablet, or personal computer, a transmission unit 57 that transmits an angle signal from the rehabilitation device 1 to the terminal device 41, and a dedicated application installed on the terminal device 41. Since the terminal device 41 is a smartphone, tablet, or personal computer, the user can use a terminal device that is easily accessible, which is convenient.

[0130] A dedicated application is installed on the terminal device 41, and based on the angle signal from the angle detection means (potentiometer 35) that detects the movement of the patient's hand (= the angle of the first movable body 11 or the second movable body 12) during training using the rehabilitation device 1, an image of the hand movement during training is continuously displayed while switching at regular angles. Thereby, the hand movement of the image that is linked to the movement of the patient's hand during training can be reproduced on the display means 314 of the terminal device 41.

[0131] Therefore, "movement observation" can be performed by observing the movement of the hand on the display means 314 while training. For example, when the healthy side is the right hand and the paralyzed side is the left hand, if one movable body 12 in the rehabilitation device 1 is rotated with the right hand as the leading hand, the other movable body 11 that follows the left hand to a certain extent by the movement mechanism 15 will also rotate. Then, since the angle signal detected at one location is also detected with the right hand as the leading hand, the image of the left hand on the paralyzed side will also be reflected according to the right hand. Therefore, rehabilitation by "movement observation" of visually observing the state where the left hand on the paralyzed side is moving normally can be performed. At this time, since the image of the left hand on the paralyzed side being in a normal moving state is the inverted image of the image of the right hand on the healthy side (the normal image of the left hand), it is ultimately the same as the method of "mirror therapy".

[0132] 〔Control System of the Extended System〕 Figure 20 is a block diagram showing the control system in the extended system of the rehabilitation device 1. As shown in Figure 20, the control unit 51 of the rehabilitation device 1 has a CPU, memory, etc. The control unit 51 is connected to an operation panel 50, a drive motor 31, a clutch 32, a potentiometer 35, a power switch 55, a buzzer 56, a transmission unit 57, etc. Also, the control unit 300 of the terminal device 41 has a CPU, memory, etc. The control unit 300 is connected to a reception unit 316, a display means 314, an operation unit 315, a notification unit 313, etc. And the transmission unit 57 samples a digital signal (the angle signal from the rotation angle detection means (potentiometer 35)) at a fixed period and transmits it to the reception unit 316 according to the communication standard of Bluetooth (registered trademark). Note that the means for detecting the rotation angle of the movable body 11 is not limited to the potentiometer 35. An encoder may be attached to the rotation axis of the movable body 11 and configured to read the rotation pulse by a photosensor. In addition, an acceleration sensor or a gyro sensor may be used. Note that the data transmission from the transmission unit 57 to the reception unit 316 is not limited to wireless connection and may also be a wired connection such as USB.

[0133] Since the terminal device 41 is provided with a receiving unit 316 that receives the rotation angle data transmitted from the transmitting unit 57 of the rotation angle detection means (potentiometer 35) and a display means 314, it is convenient to process the rotation angle data by the terminal device 41 and display the result.

[0134] 〔Basic Configuration of the Extended System〕 Next, the basic configuration of the extended system will be specifically described.

[0135] A rotation angle detection means (potentiometer 35) for detecting the rotation angle of either the first movable body 11 rotated by operating the first operation units (11a, 11b, 11c, 11d) with the healthy hand of the patient or the second movable body 12 rotated by operating the second operation units (12a, 12b, 12c, 12d) with the healthy hand of the patient with respect to the base 17, a type setting means for setting the type of rehabilitation, and a display means 314 are provided, and based on the rotation angle detected by the rotation angle detection means (potentiometer 35) and the type of rehabilitation set by the type setting means, a control means (control unit 300) for controlling to display the image images of both the healthy side and the paralyzed side hands on the display means 314 is provided.

[0136] According to this, rehabilitation called motor observation, in which the image of the paralyzed hand moving normally together with the healthy hand can be visually observed, can be performed, and a good effect on the brain can be expected.

[0137] Furthermore, specifically, it includes a rotation angle detection means (potentiometer 35) for detecting the rotation angle of the first movable body 11 or the second movable body 12, a type setting means for setting the type of rehabilitation, and a display means 314. Based on the rotation angle of the first movable body 11 or the second movable body 12 detected by the rotation angle detection means (potentiometer 35), the display means 314 continuously displays while switching the image of both hands during training corresponding to the type of rehabilitation set by the type setting means every time it rotates by a predetermined angle. Here, the type of rehabilitation refers to, for example, training of the wrist (dorsiflexion, palmar flexion), training of the fingers (extension, flexion), training of the wrist (radial flexion, ulnar flexion), training of the thumb (palmar abduction), etc. Also, the image of both hands during training refers to a plurality of illustration images or photographic images of both hands during training corresponding to the type of rehabilitation stored in the storage means in advance.

[0138] According to this, without using a camera or the like, an image of both hands linked to the movement of the patient's healthy hand can be displayed inexpensively with a simple configuration.

[0139] The dedicated application installed in the terminal device 41 includes a reference table showing the relationship between the rotation angle data and the image, and the control means (control unit 300) controls the display means 314 to display using the reference table.

[0140] According to this, in order to display on the display means 314 using the reference table, the image of both the healthy side and the paralyzed side hands can be easily displayed on the display means 314.

[0141] 〔Training operation using the extended system〕 Next, the training operation using the extended system will be described.

[0142] Figures 21 to 24 show the display screen 500 as the display means 314 of the terminal device 41.

[0143] (1) First, while pressing the "Image Selection" button 512, in the display frame 521 for the type of rehabilitation Select so that the type of rehabilitation desired is displayed. (2) Next, press the "Setting Start" button 513 to register the starting and ending points of the movement of the hand (movable body). For example, the left hand 501 and the right hand 502 in FIG. 21 correspond to the starting point of the movement, and the left hand 501 and the right hand 502 in FIG. 22 correspond to the ending point of the movement. Note that the set angles of the starting and ending points of the movement can be adjusted by a predetermined operation. (3) Next, set the target number of times. At that time, input and set directly through the input box 515 on the display screen 500 or by tracing the pointer 516 with a finger. The "Time / Count Clear" button 514 is a button for clearing the elapsed time and the target number of times. (4) Next, if desired, press the "With Balloon" button 511, and an animation will be displayed on the display screen 500 in which the balloon inflates according to the number of training times and bursts when the target number of times is achieved. (5) Next, press the "Start" button 510, and the training will start. The counter display 525 will be incremented for one round trip from the starting point to the ending point of the movement of the hand (movable body). Also, the elapsed time from the start of training to the present will be displayed in the display frame 522, the preset movable range of the hand will be displayed in the display frame 523, and the current angle of the hand will be displayed in the display frame 524.

[0144] It is effective for the confirmation and promotion of the rehabilitation result because it increments the counter display of the display means 314 assuming that the target movement has been achieved.

[0145] Next, specific examples of the types of rehabilitation will be given to explain the operations during training. For example, training of the wrist (dorsiflexion, palmar flexion) and training of the fingers (extension, flexion) will be explained.

[0146] First, the training of the wrist (dorsiflexion, palmar flexion) will be explained. Regarding the training of the wrist (dorsiflexion, palmar flexion), the training itself by the rehabilitation device 1 is as described above with reference to FIGS. 8A and 8B as the second embodiment. At that time, the display on the display screen 500 of the image of both hands during training using the extended system corresponds to FIGS. 21 and 22. FIG. 21 shows dorsiflexion, FIG. 22 shows palmar flexion, and the movable range of the wrist is from dorsiflexion to palmar flexion.

[0147] Based on the rotation angle of the first movable body 11 or the second movable body 12 detected by the rotation angle detection means (potentiometer 35), the display means 314 (display screen 500) continuously displays while switching the image of both hands during training corresponding to the type of rehabilitation set by the type setting means every time it rotates by a predetermined angle.

[0148] At this time, for example, when the healthy side is the right hand 502 and the paralyzed side is the left hand 501, when one movable body 12 in the rehabilitation device 1 is rotated with the right hand as the leading hand, the other movable body 11 that follows the left hand 501 to a certain extent by the movement mechanism 15 also rotates. Then, since the angle signal detected at one location is also detected with the right hand as the leading hand, the image of the left hand 501 on the paralyzed side is also reflected in accordance with the right hand 502. Therefore, rehabilitation by "motor observation" of visually observing the state where the left hand on the paralyzed side is moving normally can be performed. At this time, since the image of the inverted image (normal left hand image) of the right hand 502 on the healthy side is displayed in the state where the left hand on the paralyzed side is moving normally, as a result, it is the same as the method of "mirror therapy".

[0149] Next, the training of the fingers (extension, flexion) will be described. Regarding the training of the fingers (extension, flexion), the training itself by the rehabilitation device 1 is as described above with reference to FIGS. 6A and 6B as the first embodiment. At that time, the display of the image of both hands during training using the expansion system on the display screen 500 corresponds to FIGS. 23 and 24. FIG. 23 shows extension, FIG. 24 shows flexion, and the range of movement of the fingers (four fingers) is from extension to flexion.

[0150] Based on the rotation angle of the first movable body 11 or the second movable body 12 detected by the rotation angle detection means (potentiometer 35), the display means 314 (display screen 500) continuously displays while switching the image of both hands during training corresponding to the type of rehabilitation set by the type setting means every time it rotates by a predetermined angle.

[0151] At this time, for example, when the healthy side is the right hand 502 and the paralyzed side is the left hand 501, if one movable body 12 in the rehabilitation device 1 is rotated with the right hand as the leading hand, the other movable body 11 that follows the left hand 501 to a certain extent by the interlocking of the moving mechanism 15 also rotates. Then, since the angle signal detected at one location is also detected with the right hand as the leading hand, the image of the left hand 501 on the paralyzed side is also reflected in accordance with the right hand 502. Therefore, rehabilitation can be performed by "motor observation" in which the state of the left hand on the paralyzed side moving normally is visually observed. Incidentally, at this time, since the inverted image (normal left hand image) of the image of the right hand 502 on the healthy side is displayed, the state of the left hand on the paralyzed side moving normally is, as a result, the same as the method of "mirror therapy".

[0152] 〔Other configurations of the extended system〕 Generally, in this type of training machine, since only the same short movements are repeated, it is not uncommon to hear complaints from patients that they get bored easily and cannot enjoy rehabilitation. Regarding this, in the present invention, the display means 314 displays that an operation of the operation amount targeted by the patient has been performed. That is, an achievement image corresponding to the achievement of the target is displayed on the display means 314. Specifically, it is provided with a virtual experience type game application as a means for enhancing the motivation to achieve the target, and the game application is executed in conjunction with the addition of the counter display, and the display means 314 displays the progress of the game execution. As a specific example, it is configured to display on the display means 314 an animation in which a balloon inflates according to the number of training times and the balloon bursts when the target number of times is achieved.

[0153] According to this, by giving the training a game element, it is possible to enjoy rehabilitation without getting bored, and it is effective for confirming and promoting the results of rehabilitation.

[0154] Furthermore, the present invention is not limited to this embodiment, and it is obvious that within the scope of the technical idea of the present invention, this embodiment can be appropriately changed in addition to what is suggested in this embodiment. Also, the number, position, shape, etc. of the above-described constituent members are not limited to this embodiment, and can be set to appropriate numbers, positions, shapes, etc. for implementing the present invention.

Explanation of Reference Numerals

[0155] 1 Rehabilitation device 5 Left hand 6 Right hand 10 Plurality of rotating gears 11 First movable body 12 Second movable body 13 First rotating gear 14 Second rotating gear 15 Moving mechanism 17 Base 18 Top plate 19 Rotating shaft portion 20 Rotating shaft portion 21 Wrist holding portion 22 Wrist holding portion 25 Thumb holding portion 26 Thumb holding portion 30 Driving force transmission mechanism 31 Driving motor 32 Clutch 33 Timing belt 34 Tension roller 35 Potentiometer 36 Load adjustment portion 41 Terminal device 57 Transmitting portion 81 Attachment 82 Attachment 83 Back of hand holding member 84 Screwing portion 85 Screwing portion 86 Screwing portion 91 Thumb holding portion 92 Thumb holding portion 93 Four-finger holding portion 94 Four-finger holding portion 101 Bevel gear 102 Bevel gear 103 Handle 104 Handle 105 Support part 106 Leg part 300 Control unit 313 Notification part 314 Display means 315 Operation part 316 Receiver unit 500 Display screen 501 Left hand 502 Right hand 510 Start button 512 Image selection button 513 Setting start button 525 Display counter

Claims

1. A rehabilitation device used to restore the motor function of a patient's upper limbs, comprising: a base; first and second rotating shaft portions supported on the base so as to be rotatable around an axis; first and second movable bodies fixed to the first and second rotating shaft portions, respectively; first and second operating portions provided on upper surfaces of the first and second movable bodies, respectively; and a moving mechanism that synchronously rotates the first and second operating portions operated by a patient to adjust positions of the first and second operating portions.

2. The rehabilitation device according to claim 1, characterized in that when either the first or second operating unit is rotated, the other operating unit is configured to rotate to a position that is symmetrical on the left and right.

3. The rehabilitation device according to claim 1 or 2, characterized in that the moving mechanism has a first rotating gear fixed to a rotation shaft portion of the first movable body and a second rotating gear fixed to a rotation shaft portion of the second movable body, and the first and second rotating gears are configured to mesh with each other so as to transmit a driving force.

4. The rehabilitation device described in claim 3, characterized in that the moving mechanism has a plurality of rotating gears arranged in a row between the first rotating gear and the second rotating gear, and the first rotating gear, the second rotating gear, and the plurality of rotating gears are configured to mesh with each other to transmit a driving force.

5. The rehabilitation device described in claim 1 or 2, characterized in that multiple sets of operating units for different types of rehabilitation are arranged on the upper surfaces of the first and second movable bodies, at positions that are linearly symmetrical about a center line that divides the first and second operating units in half, and the rehabilitation type can be selected by changing the hand that holds the operating units.

6. 3. The rehabilitation device according to claim 1, further comprising a load adjustment unit that adjusts the load applied when the first and second operating units are moved.

7. A rehabilitation device used to restore the motor function of a patient's upper limbs, comprising: a base; first and second rotating shaft portions supported on the base so as to be rotatable around an axis; first and second movable bodies fixed to the first and second rotating shaft portions, respectively; first and second operating portions provided on upper surfaces of the first and second movable bodies, respectively; a moving mechanism that rotates the first and second operating portions operated by a patient in a synchronous manner to adjust the positions of the first and second operating portions; and a drive motor that transmits driving force to the moving mechanism.

8. The rehabilitation device according to claim 7, characterized in that when either the first or second operating unit is rotated, the other operating unit is configured to rotate to a position that is symmetrical to the left and right.

9. The rehabilitation device as described in claim 7 or 8, characterized in that it has a clutch provided in a drive transmission system between the moving mechanism and the drive motor, and is configured so that a user can select whether or not to transmit the drive force of the drive motor to the moving mechanism.

10. 9. The rehabilitation device according to claim 7, wherein the rotation speed of the drive motor is changeable by a user.

11. The rehabilitation device according to claim 7 or 8, characterized in that it comprises a potentiometer that detects the rotation angle of the first movable body or the second movable body, a movable range of the first movable body or the second movable body detected by the potentiometer is set in advance by a user, and a control means that moves the operating unit within any set movable range by controlling the rotation angle of the first and second movable bodies by the drive motor.

12. The rehabilitation device according to claim 7 or claim 8, characterized in that it is provided with a potentiometer that detects a rotation angle of the first movable body or the second movable body, and a counter that counts the number of times a user rotates the first and second operating units based on the rotation angle of the first movable body or the second movable body detected by the potentiometer.

13. 9. The rehabilitation device according to claim 7, further comprising a stop mode in which the rotation of the first movable body and the second movable body is stopped at a predetermined position for a predetermined period of time.

14. The rehabilitation device according to claim 1 or claim 7, characterized in that the first and second operating units are provided with first and second attachments that are detachably installed on an upper surface of the movable body and for fixing a portion of the upper limb to the movable body.

15. The rehabilitation device described in claim 14, characterized in that the first and second attachments are each configured as a palm holding portion for holding the palm, and include a main body member and a back of the hand holding member fixed to the upper surface of the main body member for holding the back of the hand, and a forearm holding portion for holding the wrist is disposed on the base near the palm holding portion.

16. The rehabilitation device described in claim 14, characterized in that the first and second attachments are each configured as a thumb holding portion for holding the thumb, and a finger holding portion for holding the index finger, middle finger, ring finger and little finger is arranged on the base near the thumb holding portion.

17. 8. The rehabilitation device according to claim 1, further comprising pace sound generating means for generating an intermittent sound at a predetermined interval corresponding to the pace of rehabilitation, and capable of freely changing the pitch of the intermittent sound.

18. 8. The rehabilitation device according to claim 1, further comprising a pace display means for displaying a visual indication corresponding to the pace of rehabilitation on the display unit at a predetermined time interval and for allowing the time interval to be freely changed.

19. a rotation angle detection means for detecting a rotation angle of either the first movable body which is rotated by the patient's healthy hand operating a first operating unit or the second movable body which is rotated by the patient's healthy hand operating a second operating unit, relative to the base; a type setting means for setting a type of rehabilitation; and a display means, The rehabilitation device according to claim 2 or claim 8, characterized in that it further comprises a control means for controlling the display means to display image images of both the healthy hand and the paralyzed hand based on the rotation angle detected by the rotation angle detection means and the type of rehabilitation set by the type setting means.

20. 20. The rehabilitation device according to claim 19, wherein the control means controls the display means to display that the patient has performed a target amount of operation.

21. 21. The rehabilitation device according to claim 20, wherein the control means controls the display means to display an achievement image corresponding to the achievement of the goal.

22. 20. The rehabilitation device according to claim 19, further comprising a terminal device provided with a receiving section that receives the data on the rotation angle transmitted from a transmitting section of the rotation angle detection means, and the display means.

23. 23. The rehabilitation device according to claim 22, wherein the dedicated application includes a reference table indicating a relationship between the data and the image, and the control means controls the display means to display the image using the reference table.

24. The rehabilitation device according to claim 22, characterized in that the terminal device is a smartphone, a tablet or a personal computer.

25. A rehabilitation device as described in claim 2 or claim 8, characterized in that it comprises a rotation angle detection means for detecting the rotation angle of the first movable body or the second movable body, a type setting means for setting a type of rehabilitation, and a display means, and based on the rotation angle of the first movable body or the second movable body detected by the rotation angle detection means, the display means continuously displays image images of both hands during training corresponding to the type of rehabilitation set by the type setting means, switching each time the image is rotated a predetermined angle.

26. The rehabilitation device according to claim 25, further comprising: a start / end registration means for registering a start point and an end point of the movement of the movable body; and a control unit for incrementing a counter display of the display means when the rotation angle of the movable body detected by the rotation angle detection means reaches from the start point of the movement to the end point of the movement, thereby determining that the target movement has been achieved.

27. The rehabilitation device according to claim 26, characterized in that the rehabilitation device is provided with a virtual experience type game application as a means for increasing motivation to achieve the goal, the game application being executed in conjunction with the increment of the counter display and configured to display the progress of the game on the display means.

Images