Support system, support method, and support program

Abstract

To provide a support system, a support method, and a support program capable of highly accurately evaluating the movement of fingers.SOLUTION: A support system 100 for supporting rehabilitation of a user includes a detection unit 1, an acquisition unit, and an evaluation unit. The detection unit 1 is worn on the fingers of the user and detects the movement of the fingers. The acquisition unit acquires evaluation information including features of joints of the fingers on the basis of the detection result of the detection unit. The evaluation unit generates an evaluation result 23a by referring to a preset evaluation index and evaluating the movement of the fingers based on the evaluation information. For example, the detection unit 1 detects the movement of the fingers using a magnetic sensor.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a support system, a support method, and a support program.

Background Art

[0002] Conventionally, as a method for supporting a user's rehabilitation, for example, an upper limb movement learning device such as Patent Document 1 has been proposed.

[0003] In Patent Document 1, a display for the right eye, a display for the left eye, imaging means for imaging a distance image of a patient's upper limb, virtual bone image generation means for generating a virtual bone image from this distance image, image alignment means for setting the display position of the virtual bone image so that the virtual bone image overlaps the teaching image, image generation means for generating a composite image for the right eye with the virtual bone image superimposed on the teaching image, and image generation means for generating a composite image for the left eye with the virtual bone image superimposed on the teaching image are provided. In the upper limb movement learning device disclosed in Patent Document 1, a teaching image serving as a model of a rehabilitation movement is 3D displayed, and a virtual bone image imitating the bones of the patient's limb is displayed superimposed thereon, and appropriate rehabilitation can be performed by moving one's own limb in accordance with the movement of the teaching image while viewing this composite image.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, the disclosed technology in Patent Document 1 is premised on an evaluation using the difference between a teaching image and a virtual bone image. However, it is difficult for the virtual bone image to perfectly reproduce the actual finger, and there are cases where a slight movement of the finger cannot be reproduced. For this reason, there is a concern that the evaluation results may vary depending on the type of movement. Due to such circumstances, it is difficult to accurately evaluate the finger movement with the disclosed technology in Patent Document 1. Therefore, a method capable of accurately evaluating the movement of the user's finger is desired.

[0006] Therefore, the present invention has been devised in view of the above-described problems, and an object thereof is to provide a support system, a support method, and a support program capable of accurately evaluating the movement of a finger.

Means for Solving the Problems

[0007] The support system according to the first invention is a support system for supporting the rehabilitation of a user, and includes a detection unit that is attached to the finger of the user and detects the movement of the finger, and an acquisition unit that acquires evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection unit, and an evaluation unit that generates an evaluation result for evaluating the movement of the finger based on the evaluation information by referring to a preset evaluation index.

[0008] The support system according to the second invention is characterized in that, in the first invention, the detection unit detects the movement of the finger using a magnetic sensor.

[0009] The support system according to the third invention is characterized in that, in the first invention, it further includes an arithmetic unit that changes the evaluation index based on the evaluation result.

[0010] The support system according to the fourth invention is characterized in that, in the third invention, the arithmetic unit includes specifying a type of movement that can or is assumed to be impossible to perform as the movement of the finger based on the evaluation result.

[0011] The support system according to the fifth invention is, in the first invention, characterized in that the acquisition unit refers to finger information acquired in advance from a plurality of healthy individuals, generates a hand model based on the detection result, and derives the characteristics of the joint part from the hand model.

[0012] The support system according to the sixth invention is, in the fifth invention, further provided with a display unit that displays a virtual finger imitating the finger based on the detection result, and the virtual finger is characterized by showing characteristics different from those of the hand model.

[0013] The support system according to the seventh invention is, in the sixth invention, further provided with a storage unit in which virtual object information for prompting the movement of the finger is stored, and the display unit is characterized by displaying the virtual object information.

[0014] The support system according to the eighth invention is, in the seventh invention, characterized in that teaching information for prompting the movement of the finger is stored in the storage unit, and the display unit displays a state in which the teaching information holds the virtual object information.

[0015] The support system according to the ninth invention is, in the first invention, characterized in that the evaluation information includes distance information indicating the distance between at least two locations among the fingers.

[0016] The support system according to the tenth invention is, in the first invention, characterized in that the evaluation information includes rotation information indicating the rotation angle of the finger.

[0017] The support system according to the eleventh invention is, in the first invention, characterized in that the evaluation information includes pressure information acting on the finger.

[0018] The support system according to the twelfth invention is, in any one of the first invention to the eleventh invention, characterized in that the evaluation unit refers to the evaluation index and generates the evaluation result of evaluating the degree of the pinching motion of the finger based on the evaluation information.

[0019] The support system according to the 13th invention is, in the 12th invention, characterized in that the characteristics of the joint part include at least any one of the angle of the distal interphalangeal joint, the angle of the proximal interphalangeal joint, the angle of the middle interphalangeal joint, and the angle of the metacarpophalangeal joint.

[0020] The support method according to the 14th invention is a support method for supporting the rehabilitation of a user, and includes a detection step of detecting the movement of the finger through a detection unit attached to the finger of the user, and an acquisition step of acquiring evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection step, and an evaluation step of generating an evaluation result of evaluating the movement of the finger based on the evaluation information with reference to a preset evaluation index.

[0021] The support program according to the 15th invention is a support program for supporting the rehabilitation of a user, and causes a computer to execute an acquisition step of acquiring evaluation information including the characteristics of the joint part of the finger based on the detection result of detecting the movement of the finger through a detection unit attached to the finger of the user, and an evaluation step of generating an evaluation result of evaluating the movement of the finger based on the evaluation information with reference to a preset evaluation index.

Effect of the Invention

[0022] According to the 1st to 13th inventions, the acquisition unit acquires evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection unit. Further, the evaluation unit generates an evaluation result of evaluating the movement of the finger based on the evaluation information with reference to a preset evaluation index. Therefore, the movement of the finger can be evaluated using the characteristics of the joint part that are easy to capture even a slight movement of the finger. Thereby, it becomes possible to evaluate the movement of the finger with high accuracy.

[0023] In particular, according to the second invention, the detection unit detects the movement of the finger using a magnetic sensor. Therefore, compared with the case of using an optical sensor that utilizes visible light, infrared rays, etc., it is easier to identify the characteristics of the joint part of the finger, and highly accurate evaluation information can be obtained. As a result, it becomes possible to evaluate the movement of the finger with higher accuracy.

[0024] In particular, according to the third invention, the calculation unit changes the evaluation index based on the evaluation result. Therefore, even when the situation such as the severity of the user changes over time, it is possible to easily set an evaluation index according to the situation. As a result, it becomes possible to improve the convenience of the support system.

[0025] In particular, according to the fourth invention, the calculation unit includes specifying the types of operations that can or are assumed to be impossible to be realized as finger movements based on the evaluation result. Therefore, it is possible to easily identify the severity of the user, and for example, it becomes easier to consider a rehabilitation menu suitable for the user. As a result, it becomes possible to promote the early improvement of the user's finger movement.

[0026] In particular, according to the fifth invention, the acquisition unit derives the characteristics of the joint part from the hand model. Therefore, compared with the case of directly deriving the characteristics of the joint part from raw data such as the detection result, it is possible to derive the characteristics of the joint part with less variation. As a result, it becomes possible to evaluate the movement of the finger with higher accuracy.

[0027] In particular, according to the sixth invention, the virtual finger exhibits characteristics different from those of the hand model. Therefore, compared with the hand model, it is possible to display a virtual finger suitable for the user's visual recognition. As a result, it becomes possible to improve the convenience of the support system.

[0028] In particular, according to the seventh invention, the display unit displays virtual object information. Therefore, based on a situation close to real life, it is possible to evaluate the movement of the user's finger. As a result, it becomes possible to promote efficient activities for rehabilitation.

[0029] In particular, according to the eighth invention, the display unit displays a state in which the teaching information holds the virtual object information. Therefore, an ideal finger movement can be made easier for the user to understand. As a result, it is possible to suppress variations in the evaluation results caused by differences in the user's recognition.

[0030] In particular, according to the ninth invention, the evaluation information includes distance information indicating the distance between at least two locations among the fingers. Therefore, it is possible to evaluate only the parameters specific to a particular movement, and it is possible to easily exclude unnecessary parameters such as idiosyncrasies specific to each user from the evaluation. As a result, it is possible to evaluate the finger movement with higher precision.

[0031] In particular, according to the tenth invention, the evaluation information includes rotation information indicating the rotation angle of the finger. Therefore, it is possible to evaluate an operation considering the degree of finger rotation. As a result, it is possible to evaluate the finger movement with higher precision.

[0032] In particular, according to the eleventh invention, the evaluation information includes pressure information acting on the finger. Therefore, it is possible to evaluate an operation considering the degree of finger pressure. As a result, it is possible to evaluate the finger movement with higher precision.

[0033] In particular, according to the twelfth invention, the evaluation unit refers to an evaluation index and generates an evaluation result obtained by evaluating the degree of the pinching movement of the finger based on the evaluation information. Therefore, it is possible to perform an evaluation specialized for the pinching movement. As a result, it is possible to evaluate the finger movement with higher precision.

[0034] In particular, according to the thirteenth invention, the characteristics of the joint part include at least any one of the angle of the distal interphalangeal joint, the angle of the proximal interphalangeal joint, the angle of the middle interphalangeal joint, and the angle of the midcarpal joint. Therefore, it is possible to improve the accuracy when evaluating the pinching movement. As a result, it is possible to evaluate the finger movement with higher precision.

[0035] According to the 14th and 15th inventions, the acquisition step acquires evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection unit. Further, the evaluation step generates an evaluation result of evaluating the finger movement based on the evaluation information with reference to a preset evaluation index. Therefore, the finger movement can be evaluated using the characteristics of the joint part that easily captures a slight movement of the finger. As a result, it becomes possible to evaluate the finger movement with high accuracy.

Brief Description of the Drawings

[0036]

Figure 1

Figure 2

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Figure 7

Mode for Carrying Out the Invention

[0037] Hereinafter, an example of the support system, support method, and support program in the embodiment of the present invention will be described with reference to the drawings.

[0038] (Embodiment: Support System 100) FIG. 1 is a schematic diagram showing an example of the support system 100 in the present embodiment.

[0039] The support system 100 is used to support the rehabilitation of a user. Since the support system 100 can evaluate the movements of the user's fingers, it can easily promote the user's understanding of the movements and achieve efficient improvement of the movements. In addition, by using the support system 100, the time for a therapist to check the user's movements can be reduced, and the burden on the therapist can be reduced.

[0040] As shown in FIG. 1, for example, the support system 100 includes a detection unit 1 and a support device 2, and may include an information management device such as a server 4. In the support system 100, the detection unit 1 and the support device 2 are connected via, for example, a communication network 3 or a communication cable.

[0041] The support system 100 detects the movements of the user's fingers via the detection unit 1 and evaluates the finger movements. As a result, the user who uses the support system 100 can easily grasp the characteristics of their own finger movements.

[0042] The support system 100 displays a virtual finger 22a that mimics the user's finger via, for example, the support device 2. In this case, the displayed virtual finger 22a varies in conjunction with the movements of the user's finger. In addition, the support system 100 displays an evaluation result 23a obtained by evaluating the movements of the user's finger via, for example, the support device 2.

[0043] (Detection unit 1) The detection unit 1 is attached to the user's finger and detects the finger movements. The detection unit 1 includes a plurality of sensors 11 for detecting finger movements, and includes, for example, a magnetic sensor. The plurality of sensors 11 may be provided, for example, at the fingertips, or may be provided at positions such as the base of the finger, and can be provided at any position according to the application.

[0044] The detection unit 1 may be, for example, a glove type to which a plurality of sensors 11 are attached, or may be, for example, a band or the like that can fix the sensors 11 to the fingers or palm, and any configuration is acceptable as long as the movement of the fingers can be detected by the sensors 11. A plurality of types of sensors 11, such as a magnetic sensor and an acceleration sensor, may be attached to the detection unit 1. In particular, when a magnetic sensor is used as the sensor 11, it is possible to detect an operation according to the characteristics of the fingers that vary from user to user, such as the length of the fingers, compared to an optical sensor, a bending sensor, or the like. As a result, it becomes possible to detect the movement of the fingers with high accuracy.

[0045] The detection unit 1 may include an electronic device equipped with a processor such as a CPU (Central Processing Unit) and a recording medium for recording various information. As the detection unit 1, for example, a product such as Quantum Metagloves (manufactured by Manus) (including additional functions such as a dedicated application associated with the product) can be used.

[0046] The detection unit 1 generates evaluation information, for example, based on the detection result. The evaluation information includes information regarding the characteristics of the joint parts of the fingers.

[0047] The detection unit 1 can generate evaluation information using known techniques. Note that the function of generating evaluation information may be included in the detection unit 1, or may be stored in the support device 2 or the like in the form of a dedicated application or the like. In this case, a plurality of data detected by the detection unit 1 are sent to the support device 2, and then the evaluation information is generated via the support device 2.

[0048] As the characteristics of the joint part, for example, an angle based on the movement direction conforming to "III. Finger Measurement" in the "Joint Range of Motion Display and Measurement Method" defined by the Japan Medical Rehabilitation Society, a public interest incorporated foundation, can be used. In addition to the above, for example, the characteristics of the joint part may use an angle with respect to the adjacent bone as the axis for the target part, and can be arbitrarily set according to the characteristics of the detection unit 1.

[0049] The characteristics of the joint part include, for example, as shown in Fig. 2(a), the angle of the distal interphalangeal joint DIP. For each finger except the thumb, for example, as the angle of the distal interphalangeal joint DIP, the relative angle between the distal phalanx and the axis of the middle phalanx is used. For the thumb, for example, as the angle of the distal interphalangeal joint DIP, the relative angle between the distal phalanx and the proximal phalanx is used.

[0050] The characteristics of the joint part include, for example, as shown in Fig. 2(b), the angle of the proximal interphalangeal joint PIP. For each finger except the thumb, for example, as the angle of the proximal interphalangeal joint PIP, the relative angle between the middle phalanx and the axis of the proximal phalanx is used.

[0051] The characteristics of the joint part include, for example, as shown in Fig. 2(c), the angle of the metacarpophalangeal joint MP. For example, as the angle of the metacarpophalangeal joint MP, the relative angle between the proximal phalanx and the middle phalanx is used.

[0052] The characteristics of the joint part include, for example, the angle of the carpometacarpal joint CM of the metacarpus. For the thumb, for example, the relative angle between the metacarpal bone and the greater multangular bone is used. Note that the angle of the carpometacarpal joint CM may include, for example, information on pronation and supination, and opposition between the radial side and the palmar side. In addition to the above, for example, as the characteristics of the joint part, any of the relative angles from a basic posture such as the relative angle with respect to the horizontal line from the index metacarpal bone to the radius, the relative angle with respect to the horizontal line from the index finger to the radius, or the state where the hand is horizontal may be used.

[0053] The evaluation information may include, for example, distance information. The distance information indicates, for example, as shown in Figs. 3(a) and 3(b), the distance between at least two locations of the fingers (distance d1 in Fig. 3(a) and distance d2 in Fig. 3(b)). The distance information includes values at a specific finger posture or a specific time such as distance d1 and distance d2, and may also include variation values before and after finger movement or over a certain period such as the difference value between distance d1 and distance d2.

[0054] In addition to the above, for example, as shown in FIG. 3(c), the position information may include positions G corresponding to two or more key points. The position G may be calculated based on, for example, the distances to the respective target positions (distances d3a, d3b, and d3c in FIG. 3(c)).

[0055] (Support device 2) FIG. 4(a) is a schematic diagram showing an example of the configuration of the support device 2, and FIG. 4(b) is a schematic diagram showing an example of the function of the support device 2.

[0056] As the support device 2, in addition to a head-mounted display (HMD), for example, an electronic device such as a personal computer or a tablet terminal may be used.

[0057] As shown in FIG. 4(a), for example, the support device 2 includes a housing 20, a CPU 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, a storage unit 204, and I / Fs 205 to 207. Each component 201 to 207 is connected by an internal bus 210.

[0058] The CPU 201 controls the entire support device 2. The ROM 202 stores the operation code of the CPU 201. The RAM 203 is a work area used during the operation of the CPU 201.

[0059] The storage unit 204 can store, for example, information necessary for evaluating the operation of the user's finger and information about the user. As the storage unit 204, for example, a data storage device such as an SSD (Solid State Drive) is used.

[0060] I / F205 is an interface for transmitting and receiving various information with the detection unit 1, the server 4, etc. as needed via the communication network 3. I / F206 is an interface for transmitting and receiving information with the input unit 208. As the input unit 208, for example, an external device for inputting information for controlling the support device 2 is used. I / F207 is an interface for transmitting and receiving various information with the display unit 209. As the display unit 209, a display is used. For example, in the case of a touch panel type, it is provided integrally with the input unit 208.

[0061] The support device 2 includes, for example, as shown in FIG. 4(b), an acquisition unit 21 and an evaluation unit 23, and may include at least any one of, for example, an output unit 22, a calculation unit 24, and a storage unit 25. Each function shown in FIG. 4(b) is realized by the CPU 201 executing a program stored in the storage unit 204 etc. with the RAM 203 as a work area.

[0062] <Acquisition unit 21> The acquisition unit 21 acquires evaluation information. The acquisition unit 21 acquires evaluation information from the detection unit 1. In addition to the above, the support device 2 may acquire the detection result detected by the detection unit 1, and generate evaluation information based on the detection result using a known processing technique.

[0063] The acquisition unit 21 may, for example, generate a hand model and derive the characteristics of the joint part from the hand model. In this case, compared with the case of directly deriving the characteristics of the joint part from raw data such as the detection result, it is possible to derive the characteristics of the joint part with less variation.

[0064] The hand model is generated from the detection results indicating the finger movements by using, for example, a known technique such as inverse dynamics. The acquisition unit 21 may set the size of the hand model by referring to, for example, finger information acquired in advance from a plurality of healthy individuals. The finger information includes, for example, shapes such as the size and length of the fingers of healthy individuals, and appearance features, and includes features collected for each age and gender, for example. By using the finger information, the hand model can be easily generated based on the features of healthy individuals similar to the features of the user's fingers.

[0065] <Output unit 22> The output unit 22 outputs, for example, a virtual finger 22a imitating the user's finger to the display unit 209 based on the position information. At this time, the virtual finger 22a is displayed on the display unit 209. Note that the virtual finger 22a can be generated using a known technique. Also, since the virtual finger 22a is generated based on the detection result of the detection unit 1, for example, different virtual fingers 22a for each user may be displayed on the display unit 209. In this case, compared with the case of displaying a preset finger image, it is possible to make it easier for the user to understand the finger movements.

[0066] Note that the virtual finger 22a may show, for example, features different from those of the hand model. In this case, as the virtual finger 22a, the features of the user's fingers can be expressed more than the hand model. That is, compared with the hand model, a virtual finger 22a suitable for the user's visual recognition can be displayed.

[0067] <Evaluation unit 23> The evaluation unit 23 generates an evaluation result 23a obtained by evaluating the finger movements of the user based on the evaluation information by referring to preset evaluation criteria. The evaluation unit 23 may output the evaluation result 23a to the display unit 209, for example, or the evaluation result 23a may be displayed via the display unit 209.

[0068] <<Evaluation criteria>> The evaluation index indicates, for example, a data format similar to the evaluation information, and indicates, for example, a threshold value or an allowable range corresponding to an appropriate finger movement. A plurality of evaluation indexes are stored in the storage unit 204, for example, and an evaluation index suitable for the application can be selected. The evaluation index may indicate, for example, a learning model generated using known machine learning. In this case, the evaluation result 23a may be output by using the evaluation information as the input information.

[0069] As the evaluation index, for example, the range of the "reference range of motion angle" described in "III. Finger measurement" in the "Range of motion display and measurement method" defined by the Japan Rehabilitation Medicine Society, a public interest incorporated foundation, may be used.

[0070] <<Evaluation result 23a>> For example, the evaluation result 23a is generated in a form recognizable by the user and can be set in an arbitrary form according to the application. As the evaluation result 23a, for example, character strings such as "good", "bad", "80 points", etc. are used. As the evaluation result 23a, for example, information for changing the color of the object to be displayed on the display unit 209, such as the virtual finger 22a, may be used (for example, when the movement is outside the allowable range, the virtual finger 22a changes to red, etc.).

[0071] For example, when the above-described range of the "reference range of motion angle" is used as the evaluation index, the evaluation result 23a may indicate the comparison result with the reference range of motion angle, such as "Your range of motion angle is ○○% with respect to the reference range of motion angle". Further, the evaluation result 23a may indicate, for example, the degree of deviation from the evaluation index (for example, the normal state).

[0072] <Calculation unit 24> The calculation unit 24 changes the evaluation index based on, for example, the evaluation result 23a. For example, when the user can perform an appropriate operation, the calculation unit 24 selects an evaluation index for evaluating another operation, an evaluation index with a high difficulty level of the current operation set, etc., and changes from the current evaluation index. Note that the conditions for the calculation unit 24 to change the evaluation index can be arbitrarily set according to the application. Further, for example, the evaluation result 23a may include information indicating that the evaluation index is to be changed.

[0073] <Memory unit 25> For example, the memory unit 25 retrieves various information stored in the storage unit 204 as needed. The memory unit 25 stores various information used by each component 21 to 24 in the storage unit 204 as needed.

[0074] (Communication network 3) The communication network 3 is an Internet network or the like for the detection unit 1, the server 4, etc. to communicate with the support device 2. The communication network 3 represents known wireless communication or wired communication and can be arbitrarily used according to the application.

[0075] (Server 4) The server 4 stores and accumulates various information such as the evaluation result 23a sent via the communication network 3. The server 4 may transmit the information accumulated via the communication network 3 to the support device 2 based on a request from the support device 2.

[0076] The server 4 may be connected to, for example, a plurality of support devices 2, acquire various information such as the evaluation result 23a from each support device 2, and store them collectively. Note that the server 4 may have at least some of the functions provided in the above-described support device 2.

[0077] (Embodiment: Support method) Next, an example of the support method in this embodiment will be described. FIG. 5 is a flowchart showing an example of the support method in this embodiment.

[0078] The support method includes a detection step S110, an acquisition step S120, and an evaluation step S140, and may include at least one of, for example, a display step S130 and a calculation step S150. Note that at least a part of the support method is implemented using, for example, the support system 100 and can be executed via, for example, a measurement program installed in the support device 2.

[0079] <Detection step S110> The detection step S110 detects the movement of the finger via the detection unit 1 attached to the user's finger. In the detection step S110, the timing for detecting the position, variation, etc. of the finger to be detected can be arbitrarily set according to the application.

[0080] <Acquisition step S120> The acquisition step S120 acquires evaluation information including the characteristics of the finger joints based on the detection result of the detection unit 1. For example, the acquisition unit 21 acquires the evaluation information generated using the detection unit 1. In the acquisition step S120, the timing for acquiring the evaluation information can be arbitrarily set according to the application.

[0081] <Display step S130> For example, the display step S130 displays a virtual finger 22a imitating the user's finger based on the evaluation information. For example, the output unit 22 generates a virtual finger 22a based on the evaluation information using a dedicated program or a dedicated application stored in the storage unit 204 in advance, and outputs the generated virtual finger 22a to the display unit 209. As a result, the virtual finger 22a is displayed on the display unit 209. Note that in the display step S130, the timing for displaying the virtual finger 22a can be arbitrarily set according to the application. For example, by shortening the timing for displaying the virtual finger 22a, the delay time with respect to the movement of the user's finger can be suppressed.

[0082] <Evaluation step S140> The evaluation step S140 refers to a preset evaluation index and generates an evaluation result 23a based on the evaluation information. For example, the evaluation unit 23 generates an evaluation result 23a for each evaluation information. In addition, for example, the evaluation unit 23 may generate an evaluation result 23a for a plurality of evaluation information acquired within a certain period. Further, the evaluation unit 23 may generate one comprehensive evaluation result 23a based on each of the plurality of evaluation information. In this case, for example, different evaluation indexes may be referred to for each evaluation information.

[0083] For example, the evaluation unit may generate an evaluation result 23a that evaluates at least one of fingertip pinching, finger pad pinching, and collateral pinching. In this case, the characteristics of the joint part include the following. · The palmar abduction angle and the radial adduction angle at the interphalangeal joint IP of the thumb · The palmar abduction angle and the radial adduction angle at the metacarpophalangeal joint MP of the thumb · The palmar abduction angle and the radial adduction angle at the carpometacarpal joint CM of the thumb · The flexion angle at the distal interphalangeal joint DIP of each finger other than the thumb · The flexion angle at the proximal interphalangeal joint PIP of each finger other than the thumb · The flexion angle at the metacarpophalangeal joint MP of each finger other than the thumb

[0084] Note that the evaluation indexes for the above-mentioned fingertip pinching, finger pad pinching, and collateral pinching can be arbitrarily set according to known definitions or applications.

[0085] In addition to displaying the evaluation result 23a via the display unit 209, the evaluation step S140 may transmit the evaluation result 23a to the server 4, other terminals, etc. Further, the evaluation step S140 may display, for example, the change over time of the evaluation result 23a or the comprehensive evaluation result 23a after the user finishes the finger movement, and the timing of displaying the evaluation result 23a via the display unit 209 can be arbitrarily set according to the application.

[0086] <Calculation step S150> For example, the calculation step S150 changes the evaluation index based on the evaluation result 23a. For example, the calculation unit 24 refers to a list of a plurality of reference evaluation results stored in the storage unit 204 and the evaluation indexes associated with each reference evaluation result, and selects the evaluation index associated with a reference table evaluation result that is the same as or similar to the evaluation result 23a generated in the evaluation step S140. Then, the calculation unit 24 changes from the current evaluation index to the selected evaluation index.

[0087] Based on the evaluation result 23a, for example, the calculation unit 24 may select a plurality of evaluation metrics that are candidates for change. In this case, the calculation step S150 displays the selected plurality of evaluation metrics on the display unit 209 and changes them to, for example, a specific evaluation metric selected by the user or the like. Therefore, it is possible to perform an evaluation considering the user's mental state and the like. As a result, it becomes possible to lead to continuous support for rehabilitation.

[0088] Based on the evaluation result 23a, for example, the calculation unit 24 may identify the types of operations that can or cannot be assumed to be performed as finger operations. In this case, the calculation unit 24 may identify, for example, a plurality of types of operations.

[0089] The calculation step S150 may display the identified type of operation on the display unit 209, for example. In this case, for example, a plurality of types of operations may be displayed on the display unit 209, and an evaluation based on the type of operation selected by the user or the like may be performed.

[0090] By performing each of the above-described steps, the support method in the present embodiment ends. Note that at least any one of the above-described steps may be repeatedly performed.

[0091] According to the present embodiment, the acquisition unit 21 acquires evaluation information including the characteristics of the finger joint portions based on the detection result of the detection unit 1. Further, the evaluation unit 23 generates an evaluation result 23a obtained by evaluating the finger movement based on the evaluation information with reference to a preset evaluation metric. Therefore, it is possible to evaluate the finger movement using the characteristics of the joint portions that are easy to capture even slight finger movements. As a result, it becomes possible to evaluate the finger movement with high accuracy.

[0092] Further, according to the present embodiment, the detection unit 1 detects the finger movement using a magnetic sensor. Therefore, compared with the case of using an optical sensor that uses visible light, infrared light, or the like, it is easier to identify the characteristics of the finger joint portions, and it is possible to acquire highly accurate evaluation information. As a result, it becomes possible to evaluate the finger movement with even higher accuracy.

[0093] Further, according to the present embodiment, the arithmetic unit 24 changes the evaluation index based on the evaluation result 23a. Therefore, even when the situation such as the severity of the user changes over time, it is possible to easily set an evaluation index according to the situation. Thereby, it becomes possible to improve the convenience of the support system 100.

[0094] Further, according to the present embodiment, the arithmetic unit 24 includes specifying an operation type that can or cannot be realized as a finger movement based on the evaluation result 23a. Therefore, the severity of the user can be easily specified, and for example, it becomes easier to consider a rehabilitation menu suitable for the user. Thereby, it becomes possible to promote early improvement of the finger movement of the user.

[0095] Further, according to the present embodiment, the acquisition unit 21 derives the characteristics of the joint part from the hand model. Therefore, compared with the case of directly deriving the characteristics of the joint part from raw data such as the detection result, it is possible to derive the characteristics of the joint part with less variation. Thereby, it becomes possible to evaluate the finger movement with higher accuracy.

[0096] Further, according to the present embodiment, the virtual finger 22a exhibits characteristics different from those of the hand model. Therefore, it is possible to display the virtual finger 22a suitable for visual recognition by the user as compared with the hand model. Thereby, it becomes possible to improve the convenience of the support system 100.

[0097] Further, according to the present embodiment, the evaluation information includes distance information indicating the distance between at least two locations among the fingers. Therefore, it is possible to evaluate only the parameters specialized for a specific movement, and for example, it is possible to easily exclude unnecessary parameters such as idiosyncrasies peculiar to each user from the evaluation. Thereby, it becomes possible to evaluate the finger movement with higher accuracy.

[0098] Further, according to the present embodiment, the characteristics of the joint part include at least any one of the angle of the distal interphalangeal joint DIP, the angle of the proximal interphalangeal joint PIP, the angle of the metacarpophalangeal joint MP of the middle finger, and the angle of the carpometacarpal joint CM of the middle finger. Therefore, the accuracy in evaluating the thumb operation can be improved. As a result, it becomes possible to evaluate the movement of the finger with higher accuracy.

[0099] Also, according to the present embodiment, the acquisition step S120 acquires evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection unit 1. Further, the evaluation step S140 refers to a preset evaluation index and generates an evaluation result 23a for evaluating the movement of the finger based on the evaluation information. Therefore, the movement of the finger can be evaluated using the characteristics of the joint part that are easy to capture even a slight movement of the finger. As a result, it becomes possible to evaluate the movement of the finger with high accuracy.

[0100] (Embodiment: First Modification Example of Support System 100) Next, a first modification example of the support system 100 in the present embodiment will be described. The difference between the above-described embodiment and the first modification example is that the virtual object information is displayed on the display unit 209. Note that the description of the same content as the above-described embodiment will be omitted.

[0101] The display unit 209 displays virtual object information 25a, for example, as shown in FIG. 6(a). The virtual object information 25a is used to prompt the movement of the user's finger and is stored in advance in a storage medium such as the storage unit 204.

[0102] As the virtual object information 25a, for example, a shape that can prompt the state held by the virtual finger 22a is used, and an arbitrary shape according to the use such as a cylinder or vertical is used. The virtual object information 25a may be displayed so as to move or deform, for example, in accordance with the movement of the user's finger.

[0103] The virtual object information 25a may be set, for example, in association with an evaluation index. In this case, in the display step S130, for example, the output unit 22 displays the virtual object information 25a stored in advance in the storage unit 204 or the like via the display unit 209.

[0104] Also, in the evaluation step S140, for example, the evaluation unit 23 refers to the evaluation index associated with the virtual object information 25a and generates an evaluation result 23a based on the position of the virtual object information 25a and the evaluation information. In the evaluation step S140, for example, based on the position of the virtual object information 25a, if the evaluation information satisfies the conditions of the evaluation index, an evaluation result 23a indicating that the user's finger is operating appropriately is generated. Note that, as the position of the virtual object information 25a used as a reference, in addition to the center of the virtual object information 25a, the surface of the virtual object information 25a may be used. In addition to the above, in the evaluation step S140, for example, the evaluation result 23a may be generated without considering the position of the virtual object information 25a.

[0105] In addition to the above, for example, as the virtual object information 25a, for example, a background or a shape that changes over time may be used. The virtual object information 25a can be arbitrarily set according to the content for which evaluation is to be performed.

[0106] According to this modification example, the display unit 209 displays the virtual object information 25a. Therefore, based on a situation close to real life, the movement of the user's finger can be evaluated. As a result, it becomes possible to achieve efficient activities for rehabilitation.

[0107] (Embodiment: Second Modification Example of Support System 100) Next, a second modification example of the support system 100 in the present embodiment will be described. The difference between the above-described embodiment and the second modification example is that the teaching information is displayed on the display unit 209. Note that descriptions of the same content as in the above-described embodiment will be omitted.

[0108] The display unit 209 displays teaching information 25b, as shown in FIG. 6(b), for example. The teaching information 25b is used to prompt the movement of the user's finger and is pre-stored in a storage medium such as the storage unit 204, for example.

[0109] For the teaching information 25b, an image of the same type as the virtual finger 22a is used, and shows an image imitating a finger pre-stored by a therapist or the like, for example. As the teaching information 25b, an image of a finger showing an operation that satisfies an evaluation index is used, for example. In this case, in the display step S130, the output unit 22 displays the teaching information 25b pre-stored in the storage unit 204 or the like via the display unit 209, for example. At this time, as shown in FIG. 6(b), for example, the display unit 209 may display a state in which the teaching information 25b holds the virtual object information 25a.

[0110] In the evaluation step S140, for example, the evaluation unit 23 refers to the evaluation index associated with the teaching information 25b and generates an evaluation result 23a based on the position of the teaching information 25b and the evaluation information. In the evaluation step S140, for example, if the evaluation information satisfies the conditions of the evaluation index with respect to the position of the teaching information 25b, an evaluation result 23a indicating that the user's finger is operating appropriately is generated. Note that in the evaluation step S140, the evaluation result 23a may be generated without considering the position of the teaching information 25b, for example.

[0111] According to this modification, the display unit 209 displays a state in which the teaching information 25b holds the virtual object information 25a. Therefore, an ideal finger movement can be made easier for the user to understand. As a result, it is possible to suppress variations in the evaluation result 23a caused by differences in the user's recognition.

[0112] (Multiple Modifications of the Evaluation Result 23a) Next, multiple modifications of the evaluation result 23a in the above-described embodiment will be described. The evaluation result 23a can indicate different contents according to the characteristics of the evaluation information. Although an example of a sensor for acquiring each piece of information is described below, known sensors may be used according to the necessary information and applications.

[0113] <Evaluation result 23a based on rotation information> The evaluation information includes rotation information indicating the rotation angle θ of the finger, as shown in, for example, FIG. 7(a). The rotation information is generated using a known sensor such as a gyro sensor, for example, and the sensor is attached to the detection unit 1. The rotation information may include information on the time associated with the rotation angle θ, and may include, for example, each speed and angular momentum.

[0114] The rotation information indicates the rotation angle θ of the finger with respect to a preset central axis. The central axis is set, for example, perpendicular to the midpoint of the distance between two points (distance d4 in FIG. 7(a)), and can be arbitrarily set according to the application.

[0115] In the above case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a based on the evaluation information including the distance information and the rotation information. Therefore, it is possible to evaluate an operation considering the degree of rotation of the finger. As a result, it becomes possible to evaluate the operation of the finger with higher accuracy.

[0116] <Evaluation result 23a based on pressure information> The evaluation information includes pressure information indicating the pressure N acting on the finger, as shown in, for example, FIG. 7(b). The pressure information is generated using a known sensor such as a pressure sensor, for example, and the sensor is attached to the detection unit 1. The pressure information may include information on the time associated with the pressure N, for example.

[0117] In the above case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a based on the evaluation information including the pressure information. Therefore, it is possible to evaluate an operation considering the degree of pressure applied by the finger. As a result, it becomes possible to evaluate the operation of the finger with higher accuracy.

[0118] <Evaluation result 23a based on electromyogram information> The evaluation information includes, for example, electromyogram information indicating an electromyogram detected along with the movement of a finger. The electromyogram information is generated using a known sensor such as an electromyogram sensor, for example, and the sensor is attached to the detection unit 1. The electromyogram information may include, for example, information on the time associated with the electromyogram.

[0119] In the above case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a based on the evaluation information including the electromyogram information. Therefore, it is possible to evaluate an operation considering the state of the user's muscles. As a result, it becomes possible to evaluate the movement of the finger with higher accuracy.

[0120] <Evaluation result 23a based on the distance between the tip of the thumb and the tip of another finger> The distance information includes, for example, a first distance indicating the distance between the tip of the thumb and the tip of another finger among the fingers. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's pinching operation based on the first distance. Therefore, it is possible to perform an evaluation specialized for the pinching operation. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy.

[0121] <Evaluation result 23a based on the distance from the base of the little finger to the ulnar side of the wrist joint or to the base of the middle finger> The distance information includes, for example, a second distance indicating the distance from the base of the little finger to the ulnar side of the wrist joint or to the base of the middle finger among the fingers. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's thumb adduction movement based on the second distance. Therefore, it is possible to perform an evaluation specialized for the thumb adduction movement. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy. In particular, since the ulnar side of the wrist joint or the base of the middle finger has lower mobility than other parts, by using it as the reference position of the second distance, it becomes possible to easily specify the degree of the thumb adduction movement.

[0122] <Evaluation result 23a based on the distance between the tip of the thumb and the second joint of the index finger> The distance information includes, for example, a third distance indicating the distance between the tip of the thumb and the second joint of the index finger among the fingers. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's key-pinching operation based on the third distance. Therefore, an evaluation specialized for the key-pinching operation can be performed. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy.

[0123] <Evaluation result 23a based on the distance between the index finger and the middle finger> The distance information includes, for example, a fourth distance indicating the distance between the index finger and the middle finger among the fingers. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's horizontal-pinching operation based on the fourth distance. Therefore, an evaluation specialized for the horizontal-pinching operation can be performed. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy.

[0124] <Evaluation result 23a based on the inclination of the index finger with respect to the thumb of the finger> The position information includes, for example, a first angle indicating the inclination of the index finger with respect to the thumb of the finger. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's palmar abduction movement of the thumb based on the first angle. Therefore, an evaluation specialized for the palmar abduction movement of the thumb can be performed. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy.

[0125] <Evaluation result 23a based on the positional relationship among the tip of the thumb, the tips of other fingers, and the interphalangeal joint of the middle finger> The position information includes, for example, information indicating the positional relationship among the tip of the thumb, the tips of other fingers (for example, the tip of the index finger), and the interphalangeal joint of the middle finger, and includes, for example, a second angle indicating the inclination of the direction toward the tip of the other finger with respect to the direction toward the tip of the thumb with reference to the interphalangeal joint of the middle finger. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's finger pulp-pinching operation based on the second angle. Therefore, an evaluation specialized for the finger pulp-pinching operation can be performed. As a result, it becomes possible to evaluate the movement of the user's finger with higher accuracy.

[0126] <Evaluation result 23a based on the distance between the fingertip of the ring finger and the middle finger interphalangeal joint> The distance information includes, for example, a fifth distance indicating the distance between the fingertip of the ring finger and the middle finger interphalangeal joint among the fingers. In this case, the evaluation unit 23 refers to the evaluation index and generates an evaluation result 23a evaluating the degree of the user's pulp pinching operation based on the fifth distance. Therefore, an evaluation specialized for the pulp pinching operation can be performed. Thereby, it becomes possible to evaluate the movement of the user's finger with higher accuracy. Note that the distance information may include the second angle described above in addition to the fifth distance. In this case, it becomes possible to evaluate the user's pulp pinching operation with higher accuracy.

[0127] Although the embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. Such novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. This embodiment and its modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

Explanation of reference numerals

[0128] 1: Detection unit 2: Support device 3: Communication network 4: Server 11: Sensor 20: Housing 21: Acquisition unit 22: Output unit 22a: Virtual finger 23: Evaluation unit 23a: Evaluation result 24: Arithmetic unit 25: Storage unit 25a: Virtual object information 25b: Teaching information 100: Support system 201: CPU 202: ROM 203: RAM 204: Storage Unit 205: I / F 206: I / F 207: I / F 208: Input Unit 209: Display Unit 210: Internal Bus S110: Detection Step S120: Acquisition Step S130: Display Step S140: Evaluation Step S150: Calculation Step

Claims

1. A support system for assisting a user's rehabilitation, comprising: a detection unit that is attached to the user's finger and detects the movement of the finger; an acquisition unit that acquires evaluation information including characteristics of the joint part of the finger based on the detection result of the detection unit; an evaluation unit that generates an evaluation result by referring to a preset evaluation index and evaluating the movement of the finger based on the evaluation information; characterized by comprising a support system.

2. The support system according to claim 1, wherein the detection unit detects the movement of the finger using a magnetic sensor.

3. The support system according to claim 1, further comprising a calculation unit that changes the evaluation index based on the evaluation result.

4. The support system according to claim 3, wherein the calculation unit includes specifying a type of movement that can or is assumed to be impossible to perform as the movement of the finger based on the evaluation result.

5. The support system according to claim 1, wherein the acquisition unit generates a hand model based on the detection result by referring to finger information previously acquired from a plurality of healthy individuals, and derives the characteristics of the joint part from the hand model.

6. The support system according to claim 5, further comprising a display unit that displays a virtual finger imitating the finger based on the detection result, wherein the virtual finger exhibits characteristics different from those of the hand model.

7. The support system according to claim 6, further comprising a storage unit that stores virtual object information for prompting the movement of the finger, wherein the display unit displays the virtual object information.

8. The support system according to claim 7, wherein teaching information for prompting the movement of the finger is stored in the storage unit, and the display unit displays a state in which the teaching information holds the virtual object information.

9. The support system according to claim 1, wherein the evaluation information includes distance information indicating a distance between at least two locations of the finger.

10. The support system according to claim 1, wherein the evaluation information includes rotation information indicating a rotation angle of the finger.

11. The support system according to claim 1, wherein the evaluation information includes pressure information acting on the finger.

12. The evaluation unit generates the evaluation result by referring to the evaluation index and evaluating the degree of the pinching movement of the finger based on the evaluation information. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The assistance system according to any one of claims 1 to 11, characterized in that...

13. The characteristics of the joint part include at least any one of the angle of the distal interphalangeal joint, the angle of the proximal interphalangeal joint, the angle of the middle interphalangeal joint, and the angle of the metacarpophalangeal joint. The assistance system according to claim 12, characterized in that...

14. An assistance method for assisting a user's rehabilitation, comprising: a detection step of detecting the movement of the finger through a detection unit attached to the finger of the user; an acquisition step of acquiring evaluation information including the characteristics of the joint part of the finger based on the detection result of the detection step; an evaluation step of generating an evaluation result for evaluating the movement of the finger based on the evaluation information with reference to a preset evaluation index; and being provided with... An assistance method characterized by the above.

15. An assistance program for assisting a user's rehabilitation, causing a computer to: perform an acquisition step of acquiring evaluation information including the characteristics of the joint part of the finger based on the detection result of detecting the movement of the finger through a detection unit attached to the finger of the user; and an evaluation step of generating an evaluation result for evaluating the movement of the finger based on the evaluation information with reference to a preset evaluation index. An assistance program characterized by the above. ​

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