Rehabilitation support device

Abstract

To provide a rehabilitation support device capable of supporting rehabilitation when recovering a motor function.SOLUTION: A rehabilitation support device includes: a first mounting fixture that is worn on one part of a joint to be subjected to rehabilitation; a second mounting fixture that is worn on a part serving as a starting point for causing the one part to move in a predetermined direction about the joint as a fulcrum; an actuator 14 that is extendable and contractible in at least one direction and has one end in an extension-contraction direction connected to the first mounting fixture or the second mounting fixture; an adjustment belt whose length is adjustable, one end of which is connected to the other end in the extension-contraction direction of the actuator and the other end of which is connected to the second mounting fixture or the first mounting fixture such that a predetermined tension acts on the second mounting fixture or the first mounting fixture; and a control device that controls the extension and contraction operation of the actuator. In a state where the actuator contracts, the one part is rotated in a predetermined direction about the joint as a fulcrum, thereby causing the joint to perform motion.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a rehabilitation support device, and more particularly to a rehabilitation support device that actively supports rehabilitation exercises to restore motor functions of the body. [Background technology]

[0002] It has been known that deep vein thrombosis (hereinafter simply referred to as thrombus (blood clot)) formed in the deep veins of the legs or lower abdomen due to prolonged immobility, such as in patients who have been bedridden for a long period of time in the hospital or travelers who have traveled long distances by plane, can develop into pulmonary embolism when the patient suddenly starts walking after the end of their rest period or when they arrive at their travel destination, causing the clot to break off from the leg veins and reach the heart or lungs, resulting in difficulty breathing and shock. To prevent such thrombosis, methods such as using elastic stockings to reduce the vascular bed area of ​​the superficial veins of the lower limbs and relatively increase the blood flow rate in the deep veins are known, as well as a massage device (Patent Document 1) that sends air into a cuff wrapped around the lower limb and inflates it to compress the lower limb and sole of the foot, improving blood flow and increasing venous return. Also known is a thrombosis prevention device (Patent Document 2) that includes a main body with a main body support section, a rocking body that is rotatably supported by a rotating shaft relative to the main body support section and is equipped with a sole support plate, and a rocking mechanism that is equipped on the main body and has one end connected to the rocking body or the rotating shaft and rocks the sole support plate equipped on the rocking body, and that rocks the sole support plate when the toe is placed on the sole support plate, thereby rocking the rocking body and causing dorsiflexion and plantar flexion of the ankle joint, centered around the ankle joint. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-47207 [Patent Document 2] Japanese Patent Application Laid-Open No. 2012-29787 Summary of the Invention [Problem to be solved by the invention]

[0004] However, elastic stockings may impede blood flow because they compress the entire body. Furthermore, the massage device shown in Patent Document 1 offers a high degree of freedom in posture when worn, but is inferior in terms of exercise. Furthermore, a device such as that shown in Patent Document 2 uses a mechanical axis to perform dorsiflexion and plantarflexion of the foot, placing a heavy load on the ankle joint and limiting freedom of posture after wearing the device.

[0005] Therefore, an object of the present invention is to provide a rehabilitation support device that can support rehabilitation when recovering motor function. [Means for solving the problem]

[0006] The rehabilitation support device for solving the above problem is configured to include a first attachment device attached to one part of the joint that is the subject of rehabilitation; a second attachment device attached to a part that serves as a starting point for moving the one part in a predetermined direction with the joint as a fulcrum; an actuator that is expandable in at least one direction and has one end in the expansion direction connected to the first attachment device or the second attachment device; an adjustment belt that is adjustable in length and has one end connected to the other end in the expansion direction of the actuator and the other end connected to the second attachment device or the first attachment device so that a predetermined tension is applied to the second attachment device or the first attachment device; and a control device that controls the expansion and contraction movement of the actuator.When the actuator is contracted, the one part is rotated in a predetermined direction with the joint as a fulcrum, and the length of the adjustment belt is adjusted so that the first attachment device and the second attachment device approach each other, and the actuator is expanded and contracted to support the movement of the joint. This configuration makes it possible to stimulate the muscles on both sides of the joint. Another configuration of the rehabilitation support device is one that includes a massage tool that is attached to one part of the body so as to encase the other part that is connected to the one part by the joint, and has multiple air chambers arranged in a row along the blood flow from the other part to the one part of the body, and a massage tool control device that supplies and exhausts compressed air to the multiple air chambers of the massage tool, and the massage tool control device further includes pressurizing means that supplies compressed air to each air chamber to pressurize each air chamber, and depressurizing means that exhausts compressed air from each pressurized air chamber to depressurize each air chamber. This configuration not only stimulates the muscles on both sides of the joint, but also promotes blood flow. Another configuration of a rehabilitation support device for solving the above-mentioned problems is a rehabilitation support device for performing dorsiflexion and plantar flexion exercises of the foot, comprising: a torso attachment body attached to the waist; a foot attachment body attached to the foot; an actuator that is expandable in at least one direction and has one end in the expansion direction connected to the torso attachment body or the foot attachment body; an adjustment belt that is adjustable in length and has one end connected to the other end in the expansion direction of the actuator and the other end connected to a position excluding the leg so that a predetermined tension is applied to the foot attachment body or the torso attachment body; and a control device that controls the expansion and contraction operation of the actuator, and is configured to be worn with the length of the adjustment belt adjusted so that the foot is in a dorsiflexed state when the actuator is contracted. This configuration is an internal skeletal device that utilizes the human skeleton, so it allows the foot to perform plantar and dorsiflexion movements without placing strain on the ankle joint. As a result, blood flow can be promoted. Furthermore, because the foot and parts other than the legs are connected by actuators and adjustable belts, it can be used in a seated position, providing freedom of posture when using the leg bending and straightening device. Furthermore, since the leg area is not used when attaching each attachment in the rehabilitation support device, thrombosis can be prevented by using a massage device that uses air pressure to press on the thighs and lower legs, as shown in Cited Document 1. As another configuration of the rehabilitation support device, the actuator may be a soft actuator that operates by air pressure. Another configuration of the rehabilitation support device is a massage device that is worn by wrapping around the leg and has multiple air chambers arranged in a row in a proximal direction from the distal end of the leg toward the center of the body, and a massage device control device that supplies and exhausts compressed air to the multiple air chambers of the massage device, and the massage device control device further comprises a pressurizing means that supplies compressed air to each air chamber to pressurize each air chamber, and a depressurizing means that exhausts compressed air from each pressurized air chamber to depressurize each air chamber. This configuration can further promote blood flow and improve the effectiveness of preventing thrombosis. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing an example of a leg bending and straightening device (first embodiment). [Figure 2] FIG. 10 is a diagram showing an example of a foot-side attachment body. [Figure 3] 3A and 3B are diagrams illustrating the configuration and operation of an actuator. [Figure 4] 4A and 4B are diagrams illustrating the operation of the leg bending and straightening device according to the first embodiment. [Figure 5] 10A and 10B are diagrams illustrating examples of wearing the device in other positions. [Figure 6] FIG. 10 is a schematic diagram showing an example of a leg bending and straightening device (Embodiment 2). [Figure 7] 10 is a diagram showing the results of evaluating changes in blood flow caused by the leg bending and straightening devices according to the first and second embodiments. FIG. [Figure 8] FIG. 10 is a diagram showing another application example (extension and flexion movement of the wrist (palmar flexion side)) of the rehabilitation support device. [Figure 9] FIG. 10 is a diagram showing another application example (extension and flexion movement of the wrist (dorsiflexion side)) of the rehabilitation support device. [Figure 10] FIG. 10 is a diagram showing another application example (extension and flexion exercise of elbow joint) of the rehabilitation support device. [Figure 11] 10A and 10B are diagrams showing another application example (abduction and adduction movement of the shoulder joint) of the rehabilitation support device. [Figure 12] FIG. 10 is a diagram showing another application example (extension and flexion exercise of the shoulder joint) of the rehabilitation support device. [Figure 13] 10A and 10B are diagrams showing another application example (extension and flexion exercise of the knee joint) of the rehabilitation support device. [Figure 14] FIG. 10 is a diagram showing another application example (hip joint extension and flexion exercise) of the rehabilitation support device. [Figure 15] FIG. 10 is a diagram showing another application example (hip joint adduction and abduction movement) of the rehabilitation support device. [Figure 16] FIG. 10 is a diagram showing another application example (backward bending and forward bending exercise of the thoracic and lumbar region) of the rehabilitation support device.

[0008] The present invention will be described in detail below through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention, and include configurations that can be selectively adopted. DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiment 1 FIG. 1 is a schematic diagram showing an example of a leg bending and straightening device according to this embodiment. As shown in Figure 1, the leg bending and straightening device 1 comprises a torso-side attachment 10 attached to the waist, a foot-side attachment 12 attached to the foot, an actuator 14 that enables plantar and dorsiflexion movement of the foot, an adjustment belt 16 for adjusting the position of the actuator 14, and a control device (referred to as a plantar and dorsiflexion control device in this embodiment 1) 18 that controls the operation of the actuator 14. The leg bending and straightening device functions as a rehabilitation support device for leg bending and straightening.

[0010] The leg bending and straightening device 1 is configured such that one end of an adjustment belt 16 is connected to a trunk side attachment 10, and an actuator 14 is connected to the other end of the adjustment belt 16 and the foot side attachment 12, and the actuator 14 can change the distance between the adjustment belt 16 and the foot side attachment 12.

[0011] That is, in the leg bending and straightening device 1, the actuator 14 changes the distance between the adjustment belt 16 and the foot-side attachment 12, thereby dorsiflexing and plantarflexing the foot. Dorsiflexion of the foot refers to rotating the toes toward the head of the human body within the range of motion of the ankle joint (flexion), and plantar flexion of the foot refers to rotating the toes away from the head of the human body within the range of motion of the ankle joint (extension). Hereinafter, the movement of bending and straightening the foot, so-called flexion and extension movement, will be referred to as plantar and dorsiflexion movement of the foot.

[0012] The following describes in detail each component of the leg bending and straightening device 1. Note that the description will be given assuming that the posture when using the leg bending and straightening device 1 is the supine position.

[0013] The torso-side attachment 10 may be configured as a detachable belt that can be wrapped around the waist, for example. For example, the torso-side attachment 10 may be wrapped around the hip bones. The torso-side attachment 10 is provided with a connecting portion (not shown) for connecting the adjustment belt 16. The connecting portion may be provided so as to be exposed around the periphery of the torso-side attachment 10, for example, when the torso-side attachment 10 is wrapped around the waist, so that the adjustment belt 16 can be easily attached and detached.

[0014] The connecting portion is the starting point for plantar and dorsiflexion of the foot in this embodiment. Therefore, the trunk attachment 10 should be configured so that it is unlikely to shift or deform in the direction of the foot when the connecting portion is pulled in the direction of the foot. In the following description, it is assumed that one connecting part is fixed to the torso-side mounting body 10 so as to be integrated, but the number of connecting parts on the torso-side mounting body 10 and the fixing form are not limited to this.

[0015] For example, when the torso-side mounting body 10 is mounted on the human body, a plurality of connecting parts may be fixed integrally around the waist. Additionally, one or more connectors may be movably attached around the waist.

[0016] The trunk-side attachment 10 may be attached so that the connecting portion is positioned in an appropriate position depending on the posture of the person using the leg bending and straightening device 1. For example, when using the leg bending and straightening device 1 in a supine position, it is recommended to attach the connecting part to the body so that it is positioned on the extension of the femur. "On the extension of the femur" means that it is positioned on the extension of the femur when the body is viewed from the front in a supine position. Furthermore, when using the leg bending and straightening device 1 in a seated position, it is advisable to wear the device so that the connecting portion is located inside or outside the base of the leg.

[0017] As mentioned above, it goes without saying that if the connecting portion is freely movable around the waist, there is no need to pay particular attention to how it is worn.

[0018] Although the torso-side attachment 10 has been described as a detachable belt that is wrapped around the waist, a shoulder belt may be added to further prevent the torso-side attachment 10 from slipping. Also, instead of the torso-side attachment 10, an adjustment belt 16 may be connected to the shoulder belt.

[0019] In addition, although the description will be given assuming that the adjustment belt 16 is connected to the torso side attachment 10 side and the actuator 14 is connected to the foot side attachment 12 side, it is also possible to connect the actuator 14 to the torso side attachment 10 side and the adjustment belt 16 to the foot side attachment 12 side.

[0020] The foot-side wearing body 12 should be configured so that it does not easily come off the foot when the actuator 14 is operated while the foot is attached to it, and should be configured so that the foot moves integrally with the wearing body 12 at least when the foot is dorsiflexed. Preferably, the foot-side wearing body 12 should be configured so as not to interfere with the range of motion (rotational movement) of the foot, for example.

[0021] FIG. 2 is a diagram showing an example of the foot-side attachment 12. As shown in FIG. As shown in FIG. 2, the foot-side attachment 12 can be composed of, for example, a sole support plate 12A that supports the sole of the foot, an instep belt 12B that straddles the instep and is fixed to the sole support plate 12A, and a heel belt 12C that is wrapped around the ankle, straddles the Achilles tendon, and is fixed to the sole support plate 12A so as to surround the heel.

[0022] For example, the sole support plate 12A can be configured as a plate-like member formed to conform to the shape of the foot, from the arch through the ball of the foot to the toes, when the foot-side wearing body 12 is worn on the foot. The material of the sole support plate 12A should be, for example, a material that has enough rigidity not to deform along the shape of the sole of the foot. The shape of the sole support plate 12A is not limited to the outer shape of the foot and can be changed as appropriate.

[0023] The performance required of the foot-side attachment 12 is that when the connecting part of the foot-side attachment 12 is pulled toward the head, the sole support plate 12A is pressed against the sole of the foot, causing the foot to rotate around the ankle joint and assume a dorsiflexed state.

[0024] The connecting portion provided on the foot-side wearing body 12 may be provided on the sole support plate 12A or the instep belt 12B. When the connecting portion is provided on the sole support plate 12A, it is preferable that the sole support plate 12A is exposed above the toes.

[0025] The position where the connecting part of the foot-side mounting body 12 is provided may be, for example, in the center of the foot width. Here, the center of the foot width means, for example, that it is provided so as to be located on the extension of the tibia when the foot is in a natural position without rotating left or right relative to the lower leg (hereinafter, this position will be referred to as the center position). "On the extension of the tibia" means that the connecting part is superimposed on the extension of the tibia when viewed from above in a supine position. When the connecting portion is provided in this manner, the foot can be dorsiflexed and plantarflexed straight relative to the lower leg. Note that straight dorsiflexion and plantarflexion means that there is essentially no adduction or abduction.

[0026] The position of the connecting part of the foot-side mounting body 12 is not limited to the central position described above, and the connecting part may be provided at a position shifted to the left or right. In this case, twisting (adduction or abduction) can be added to the plantar flexion and dorsiflexion movement of the foot.

[0027] FIG. 3 is a diagram illustrating an example of an actuator. 3, the actuator 14 is configured as a so-called soft actuator, which includes a cylindrical elastic body 30 formed in a cylindrical shape and end members 32 that close the open ends at both ends of the cylindrical elastic body 30, and which forms a closed space S surrounded by the inner periphery of the cylindrical elastic body 30 and the end members 32 inserted into the cylindrical elastic body 30. When air is supplied into the closed space S, it expands in one direction as shown in FIG. 3(b), and when the supplied air is discharged, it contracts to its pre-expansion state as shown in FIG. 3(a).

[0028] The cylindrical elastic body 30 is made of rubber and contains a plurality of fibers 31 that are inclined at a predetermined angle relative to the circumferential direction and spiral.

[0029] When air is supplied to the closed space S and the pressure in the closed space S increases, the plurality of fibers 31 restrict the radial expansion of the cylindrical elastic body 30 while allowing it to stretch in the axial direction (stretching direction). The fibers 31 are preferably non-stretchable.

[0030] The actuator 14 is connected to the adjustment belt 16 and the foot-side attachment 12 via this end member 32 . A through-hole 33 that penetrates into the closed space S is formed in one of the end members 32, and an air tube extending from the plantar flexion control device 18 is connected to the through-hole 33.

[0031] The form of the actuator 14 is not limited to this, but may be any form that has a stroke required for plantar and dorsiflexion movements of the foot. Preferably, a soft actuator, which is mainly made of a stretchable elastic material, is lightweight and flexible, and has a high affinity with humans. Another example of a soft actuator is the use of so-called artificial muscles, which contract axially and expand radially when compressed air is supplied, and extend axially and contract radially when the supplied compressed air is discharged.

[0032] The adjustment belt 16 is a belt-shaped member that starts from the trunk-side attachment 10 and, together with the actuator 14, dorsiflexes the foot via the foot-side attachment 12. The adjustment belt 16 has a mechanism that allows its length to be adjusted, and is preferably non-stretchable and lightweight.

[0033] As shown in FIG. 1, the plantar flexion control device 18 includes a compressor 40 that generates compressed air to be supplied to the actuator 14, a regulator 42 that adjusts the compressed air output from the compressor 40 to a predetermined pressure, an electromagnetic valve 44 for supplying compressed air to the actuator 14 and discharging the compressed air supplied to the actuator 14, a pressure sensor 46 that measures the pressure in the closed space of the actuator 14, and a plantar flexion controller 50 that controls the electromagnetic valve 44 based on the pressure value measured by the pressure sensor 46.

[0034] The solenoid valve 44 can be a three-way valve having an input port connected to the regulator 42, an output port connected to the actuator 14, an exhaust port connected to the atmosphere, a flow path (hereinafter referred to as the supply path) connecting the input port and the output port, a flow path (hereinafter referred to as the exhaust path) connecting the output port and the exhaust port, and a valve that switches between the supply path and the exhaust path based on an electrical signal.

[0035] The electromagnetic valve 44 is electrically connected to the plantar flexion and dorsiflexion controller 50, and operates the valve based on a signal input from the plantar flexion and dorsiflexion controller 50 to switch between the supply path and the discharge path. In this embodiment, the solenoid valve 44 will be described as closing the supply path and opening the discharge path when no signal is input, and opening the supply path and closing the discharge path when a signal is input. One end of a tube for supplying compressed air to the actuator 14 is connected to the output port of the solenoid valve 44. The other end of the tube is connected to a through-hole 33 formed in the end member 32 of the actuator 14. In other words, the flow path from the output port of the solenoid valve 44 to the actuator 14 and the closed space S in the actuator 14 are in a communication state regardless of the operation of the solenoid valve 44 .

[0036] Pressure sensor 46 is provided, for example, in a flow path from the output port of solenoid valve 44 to actuator 14, and measures the air pressure in the flow path to determine the internal pressure of the closed space in actuator 14. Pressure sensor 46 is electrically connected to plantar flexion and dorsiflexion controller 50, and outputs the measured pressure to plantar flexion and dorsiflexion controller 50.

[0037] The plantar flexion and dorsiflexion controller 50 is a so-called computer equipped with hardware resources such as a processing unit such as a CPU (processor), storage units such as ROM and RAM, and external input units that enable connection to sensors and external devices. The storage unit simply stores a plantar flexion and dorsiflexion program for operating the actuator 14 to dorsiflex and plantarflex the foot.

[0038] Although the plantar flexion and dorsiflexion controller 50 has been described as controlling the operation of the actuator 14 based on the pressure within the closed space S, it may alternatively be configured to detect the angle of the ankle joint using a sensor and control the operation of the actuator 14 based on the angle of the ankle joint, or to control the operation of the actuator 14 by combining the pressure within the closed space S and the angle of the ankle joint.

[0039] The use of the leg bending and straightening device 1 according to the first embodiment will be described. First, the torso side mounting body 10 and the foot side mounting body 12 are attached, and one end member 32 of the actuator 14 is connected to the foot side mounting body 12. Furthermore, one end of the adjustment belt 16 is connected to the other end member 32 of the actuator 14, and the other end of the adjustment belt 16 is connected to the torso side mounting body 10. Next, the length of the adjustment belt 16 is adjusted using the length adjustment mechanism of the adjustment belt 16 so that the foot is in a dorsiflexed state as shown in Fig. 4(a). At this time, the actuator 14 is in a state where the closed space S is open to the atmosphere (atmospheric pressure state). Then, by operating the plantar flexion and dorsiflexion controller 50, a signal is output from the plantar flexion controller 50 to the solenoid valve 44, and compressed air is supplied to the actuator 14. The supply of compressed air causes the actuator 14 to extend in the axial direction, as shown in FIG. 4(b), and the foot, which was in a dorsiflexed state, gradually rotates in the plantar flexion direction. When the plantar flexion and dorsiflexion controller 50 detects that the pressure value measured by the pressure sensor 46 has reached a predetermined pressure value, the plantar flexion and dorsiflexion controller 50 stops outputting a signal to the solenoid valve 44. When the output of the signal to the solenoid valve 44 is stopped, the supply of compressed air to the actuator 14 is stopped, and the compressed air supplied to the actuator 14 is discharged from the exhaust port of the solenoid valve 44. As a result, as shown in FIG. 4(c), the actuator 14 contracts in the axial direction due to the restoring force of the cylindrical elastic body 30, which was in an elongated state, and the foot, which was in a plantarflexed state, gradually rotates in the dorsiflexion direction. Then, when the plantarflexion and dorsiflexion controller 50 detects that the pressure value measured by the pressure sensor 46 has reached atmospheric pressure, the plantarflexion and dorsiflexion controller 50 again outputs a signal to the solenoid valve 44. By repeating the above process, the foot can be caused to perform plantarflexion and dorsiflexion movements.

[0040] The control of the plantar and dorsiflexion movements by the plantar and dorsiflexion controller 50 described above is an example and may be modified as appropriate.

[0041] As described above, the leg bending and straightening device 1 according to this embodiment can perform plantar and dorsiflexion movements of the foot, similar to the exoskeleton-type thrombosis prevention device shown in Cited Document 2. In addition, the leg bending and straightening device 1 according to this embodiment is a so-called internal skeleton-type device that utilizes the human skeleton, and therefore can perform plantar and dorsiflexion movements of the foot without placing a burden on the ankle joint.

[0042] Furthermore, the leg bending and straightening device 1 according to this embodiment is configured to connect the waist and legs with the actuator 14 and the adjustment belt 16, so it can be used even in a seated position, as shown in FIG. In this case, the actuator 14 and the adjustment belt 16 may be arranged to connect the waist and the feet on the outside of the legs.

[0043] Furthermore, although the description has been given of the case where the adjustment belt 16 is connected to the torso-side attachment 10 (attachment 2), the invention is not limited to using the torso-side attachment 10 and connecting the adjustment belt 16 to it. The other end of the adjustment belt 16 connected to the actuator 14 may be connected to a position other than the leg so that a predetermined tension acts on the foot-side attachment 12 (attachment 1). A position other than the legs means, for example, the upper body when using a human body, or furniture such as a bed or chair when assuming a supine or sitting position, or fittings such as a pillar, etc. In this case, the orthosis (attachment of 2) can be configured so that it does not move easily when actuator 14 is operated, or adjustment belt 16 can be connected to a place that does not move easily.

[0044] That is, the leg bending and straightening device 1 according to the first embodiment comprises a foot-side attachment 12 (attachment 1) attached to the foot, which is one of the ankle joints that is the subject of rehabilitation; a torso-side attachment 10 (attachment 2) attached to the waist, which is the starting point for moving the foot in a predetermined direction with the ankle joint as the fulcrum; an actuator 14 that is stretchable in at least one direction and has one end in the stretching direction connected to the foot-side attachment 12 or the torso-side attachment 10; and an actuator 14 whose length is adjustable and has one end connected to the other end in the stretching direction of the actuator 14 and the other end connected to the torso-side attachment 10. The device is equipped with an adjustment belt 16 connected to the torso-side attachment 10 or the foot-side attachment 12 so that a predetermined tension acts on the side attachment 10 or the foot-side attachment 12, and a control device that controls the expansion and contraction operation of the actuator 14. With the actuator 14 contracted, the length of the adjustment belt 16 is adjusted and then the actuator 14 is expanded and contracted so that the foot-side attachment 12 and the torso-side attachment 10 approach each other while rotating the foot in the dorsiflexion direction, thereby enabling rehabilitation exercise to be supported that bends and straightens (extends and flexes) the ankle joint.

[0045] Furthermore, in the leg bending and straightening device 1 of this embodiment, no leg bending and straightening equipment is attached around the leg, so that thrombosis can be prevented by using in combination a massage device that uses air pressure to press on the thigh and lower leg as shown in Cited Document 1.

[0046] Embodiment 2 In embodiment 2, a case will be described in which the leg bending and straightening device 1 described in embodiment 1 is used in combination with a device that uses air pressure to press on the legs (thighs and lower legs) to promote the prevention of thrombosis. In the following explanation, the leg bending and straightening device 1 described in embodiment 1 will be referred to as a foot flexion and straightening device 2, and a case will be described in which the leg flexion and straightening device 1 is configured by using a pneumatic compression device 6 that promotes blood flow by air compression in combination with this foot flexion and straightening device 2. Note that the foot flexion and straightening device 2 is the same as described in embodiment 1, so a description thereof will be omitted. Pneumatic compression refers to compressing the thighs, lower legs, etc. of the human body from the periphery using air pressure. In the second embodiment, the pneumatic compression device 6 is described as compressing the lower legs, but it may be configured to compress from the thighs to the lower legs.

[0047] As shown in FIG. 6, the air compression device 6 includes a cylindrical massage tool 60 that is worn so as to wrap around the patient's leg, and a massage tool control device 64 that is connected to the massage tool 60 via an air tube 62.

[0048] The massage device 60 is provided with first to fourth air chambers 65a to 65d arranged in a row and successively covering the lower leg from the peripheral portion covering the area from the toes to the heels. These four air chambers 65a-65d are arranged so that adjacent air chambers partially overlap each other. The air tubes 62 connect the air chambers 65 a - 65 d of the massage device 60 to the massage device control device 64 .

[0049] The massage device control device 64 includes an air pump 70 that discharges compressed air, a regulator 72, four solenoid valves 74 arranged between the regulator 72 and each air tube 62, four pressure sensors 76 for measuring the pressure in each air chamber 65a-65d, and a compression controller 80 that controls the operation of the four solenoid valves 74.

[0050] Each solenoid valve 74 is a three-way valve having a first opening communicating with the air pump 70, a second opening communicating with the air chamber via the air tube 62, and a third opening communicating with the atmosphere. When the solenoid valve is in the OFF state, it closes the first opening, connecting the second and third openings to a compressed air discharge state, and when it is in the ON state, it closes the third opening, connecting the first and second openings to a compressed air supply state.

[0051] That is, when the air pump 70 is operating, the solenoid valve 74 can be turned on by the compression controller 80, which switches the solenoid valve 74 to a compressed air supply state, whereby compressed air from the air pump 70 is supplied to the corresponding air chamber, causing the air chamber to be pressurized and expand; when the solenoid valve is turned off, the solenoid valve switches to a compressed air discharge state, whereby the compressed air in the corresponding air chamber is discharged to the atmosphere, causing the air chamber to be depressurized and shrink.

[0052] The order of operation of each solenoid valve, that is, the order of pressurization and depressurization of each air chamber 65a-65d, can be arbitrarily set by the compression controller 80. In the pneumatic compression device 6, after all the air chambers have been pressurized by turning on the solenoid valves in the order set by the compression program (pressurization means) of the compression controller 80, the pressurized state of each air chamber is maintained for a fixed time (5 seconds) by the pressurization state maintenance program (pressurization state maintenance means), and then the solenoid valves are turned off in the order set by the decompression program (decompression means) to decompress all the air chambers 65a-65d. After all the air chambers 65a-65d have been decompressed, the pressurization program starts again, and pressurization and decompression are performed in the same order, and this cycle is then repeated.

[0053] For example, examples of pressurization patterns in the pneumatic compression device 6 include a first pressurization pattern in which all the solenoid valves 74 are turned on simultaneously to pressurize all the air chambers 65a-65d simultaneously, and a second pressurization pattern in which the first to fourth solenoid valves 74 are turned on sequentially to start pressurizing in the proximal direction from the most distal first air chamber to the most proximal fourth air chamber. The pressurization patterns are not limited to these, and the first to fourth electromagnetic valves may be driven in any order to pressurize the air chambers 65a-65d.

[0054] The decompression pattern of the pneumatic compression device 6 is basically such that, for any pair of adjacently arranged air chambers, decompression of the proximal air chamber of the pair is started first, followed by decompression of the distal air chamber.

[0055] This creates a pressure gradient between the part of the body that was being compressed by the decompressed proximal air chamber and the part of the distal air chamber, encouraging bodily fluids to flow from the part of the distal air chamber to the part of the proximal air chamber.

[0056] For example, the decompression patterns of the pneumatic compression device 6 include a first decompression pattern in which decompression of the fourth air chamber 65d is started first, followed by decompression of the second air chamber 65b, the third air chamber 65c, and the first air chamber 65a in that order; a second decompression pattern in which decompression of the third air chamber 65c is started first, followed by decompression of the first air chamber 65a, the fourth air chamber 65d, and the second air chamber 65b in that order; and a third decompression pattern in which decompression is started sequentially in the order of the fourth air chamber 65d to the first air chamber 65a in the distal direction.

[0057] The decompression patterns are not limited to the three illustrated decompression patterns, and for example, the decompression pattern may be such that each air chamber 65a-65d is decompressed so that a portion is created in which the pressure applied to the body decreases from the distal to the proximal end.

[0058] The leg bending and stretching device 1 according to the second embodiment can promote blood flow in the legs by the leg bending and stretching device 2 and the pneumatic compression device 6 working in cooperation with each other. For example, when the foot flexion and extension device 2 plantar flexes the foot, the air compression device 6 compresses the lower limb, and when the foot flexion and extension device 2 dorsiflexes the foot, the air compression device 6 decompresses the lower limb, and so on.

[0059] [Blood flow evaluation experiment] FIG. 7 is a diagram showing the results of an experiment conducted to confirm the effects of the leg bending and straightening device 1 according to this embodiment. The experiment was carried out in the supine position. As a comparative example, the state of blood flow when no device was attached to the human body and no movement was observed, and when only the pneumatic compression device 6 was used, and the state of blood flow when only the foot flexion and extension device 2 according to this embodiment was used was compared with the state of blood flow when both the foot flexion and extension device 2 and the pneumatic compression device 6 were used. The blood flow status was examined by examining the time course of blood flow in the right femoral vein using an ultrasound imaging diagnostic device. Six healthy male subjects (height 171.7±6.1 cm) were selected as subjects. Hereinafter, the case where no device is attached to the human body and no movement is referred to as (a) no movement, the case where only the air compression device 6 is used is referred to as (b) air compression only, the case where only the foot flexion and extension device 2 is used is referred to as (c) plantar and dorsiflexion exercise only, and the case where both the foot flexion and extension device 2 and the air compression device 6 are used is referred to as (d) a combination of air compression and plantar and dorsiflexion exercise.

[0060] 7(a) to (d), the white areas represent blood flow. In other words, the larger the white areas, the greater the blood flow. The white area becomes wider in the order of Figure 7(a) → Figure 7(b) → Figure 7(c) → Figure 7(d), and the leg bending and straightening device 1 described in embodiments 1 and 2 increases blood flow, which is effective in preventing thrombosis.

[0061] In the above embodiment 1, the leg bending and straightening device 1 is configured so that the user passively performs plantar and dorsiflexion exercises of the foot, and functions as a rehabilitation support device for preventing thrombosis when performing rehabilitation to restore motor function, but this is not limited to this. For example, the leg bending and straightening device 1 may be configured so that the user of the leg bending and straightening device 1 actively performs plantar and dorsiflexion exercises of the foot, causing the leg bending and straightening device 1 to apply load to the foot and function as a rehabilitation support device for restoring motor function. In this case, a detection means such as a force sensor or a rotation sensor for detecting the state of foot movement may be used so that the actuator 14 generates a load on the active plantar and dorsiflexion movement of the person's foot. In addition, the leg bending and straightening device 1 may be configured to automatically switch between encouraging plantar and dorsiflexion of the foot when the user is not actively performing plantar and dorsiflexion of the foot, and applying a load when the user is actively performing plantar and dorsiflexion of the foot.

[0062] In the above-described first and second embodiments, the device is described as being configured as a rehabilitation support device for plantar and dorsiflexion exercise of the foot, but the present invention is not limited to this. The above-described rehabilitation support device can also be applied to rehabilitation exercises for body parts, for example, as described below. The same reference numerals are used to designate components having the same functions as those of the rehabilitation support device 1. The control device is also omitted.

[0063] Embodiment 3 [Wrist extension and flexion (palmar flexion)] 8 is a diagram showing an example of application of the rehabilitation support device to wrist extension-flexion movement (palmar flexion side). In the third embodiment, the wrist extension-flexion movement (palmar flexion side) refers to a movement in which the hand is extended from a palmar flexion position where the hand is bent toward the palm to an intermediate position (a state in which the hand is extended in the extension direction of the forearm).

[0064] Since the wrist joint is located between the forearm and the hand, for example, as shown in FIG. 8, a forearm-side attachment 10 is attached to the forearm and a hand-side attachment 12 is attached to the hand, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the forearm-side attachment 10 and the other end connected to the hand-side attachment 12. Then, by changing the distance between the forearm-side attachment 10 and the hand-side attachment 12 by expanding and contracting the actuator 14, it is possible to perform extension and flexion movements of the wrist joint, which repeatedly bends and straightens on the palm side.

[0065] That is, the rehabilitation support device of embodiment 3 is capable of supporting rehabilitation exercises that extend and flex the wrist on the palmar flexion side by rotating one part of the body, the hand, in the palmar flexion direction with the wrist as the fulcrum while the actuator 14 is contracted, and adjusting the length of the adjustment belt 16 so that the hand side attachment 12 (attachment 1) approaches the forearm side attachment 10 (attachment 2), and then expanding and contracting the actuator 14.

[0066] The forearm-side attachment 10 may be configured to be detachable, for example, around the elbow connecting the forearm and upper arm, so that it does not shift position when the hand is bent toward the palm. The forearm side attachment 10 is provided with, for example, a connecting portion (not shown in the figures) (hereinafter referred to as the forearm side connecting portion) for connecting the adjustment belt 16. The forearm side connecting portion is preferably provided, for example, on the inside of the elbow when the forearm side attachment 10 is worn around the elbow.

[0067] Hand-side attachment 12 may be configured to be detachably attached to, for example, the palm of the hand. Hand-side attachment 12 is provided with a connecting portion (not shown in the figures) (hereinafter referred to as a hand-side connecting portion) to which one end of actuator 14 is connected. The hand-side connecting portion may be provided on the palm side when hand-side attachment 12 is worn around the palm.

[0068] Then, by adjusting the length of adjustment belt 16 so that the wrist is bent flatward as shown in Figure 8(a), and supplying compressed air to actuator 14, actuator 14 expands, and the bent state is gradually released and the wrist can be extended as shown in Figure 8(b). Furthermore, by discharging the compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, and the wrist returns to the bent state.

[0069] In this way, by supplying and discharging air to and from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the hand-side attachment 12, in other words, the distance between the forearm-side attachment 10 and the hand-side attachment 12, thereby causing the wrist joint to extend and flex (palmar flexion side).

[0070] Embodiment 4 [Wrist extension and flexion (dorsiflexion)] 9 is a diagram showing an example of application of the rehabilitation support device to wrist extension and flexion movement (dorsiflexion side). In the fourth embodiment, the wrist extension and flexion movement (dorsiflexion side) refers to a movement in which the hand is flexed from a dorsiflexed position in which the hand is extended toward the back to an intermediate position (a state in which the hand is extended in the extension direction of the forearm).

[0071] Since the wrist joint is located between the forearm and the hand, for example, as shown in FIG. 9, a forearm-side attachment 10 is attached to the forearm and a hand-side attachment 12 is attached to the hand, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the forearm-side attachment 10 and the other end connected to the hand-side attachment 12. Then, by changing the distance between the forearm-side attachment 10 and the hand-side attachment 12 by expanding and contracting the actuator 14, it is possible to perform extension and flexion movements of the wrist joint, which repeatedly bends and straightens on the back of the hand.

[0072] That is, the rehabilitation support device of embodiment 4 is capable of supporting rehabilitation exercises that extend and flex the wrist joint on the dorsiflexion side by rotating one part of the body, the hand, in the dorsiflexion direction with the wrist joint as the fulcrum while the actuator 14 is contracted, and then adjusting the length of the adjustment belt 16 and expanding and contracting the actuator 14 so that the hand side attachment 12 (attachment 1) approaches the forearm side attachment 10 (attachment 2).

[0073] The forearm side attachment body 10 and the hand side attachment body 12 may be configured as explained above for the extension and flexion movement of the wrist joint (palmar flexion side). When the wrist joint is extended and flexed on the back side, the forearm side connecting part provided on the inside of the elbow when the wrist joint is extended and flexed (palmar flexion side) can be provided on the forearm side attachment body 10 so as to be on the outside of the elbow, and the hand side connecting part provided on the palm side can be provided on the hand side attachment body 12 so as to be on the back of the hand, for example.

[0074] Then, by adjusting the length of adjustment belt 16 so that the wrist joint is extended toward the back of the hand as shown in Figure 9(a), and supplying compressed air to actuator 14, actuator 14 expands, gradually releasing the extension toward the back of the hand, and allowing the wrist to bend as shown in Figure 9(b). Furthermore, by discharging the compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, returning the wrist joint to the state extended toward the back of the hand.

[0075] In this way, by supplying or discharging air to or from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the hand-side attachment 12, in other words, the distance between the forearm-side attachment 10 and the hand-side attachment 12, thereby causing the wrist joint to extend and flex (dorsiflexion side).

[0076] Furthermore, the massage support devices described in the third and fourth embodiments may be configured to include, for example, the massage implement described in the second embodiment. In this case, the massage tool can be worn, for example, by wrapping around the forearm (the other part) to which the hand (one part) is connected by the wrist, and can be configured with multiple air chambers arranged in a row along the blood flow from the forearm to the hand (for example, along the extension direction of the forearm).

[0077] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the extension and flexion movements of the wrist as described above, the massage device can stimulate the muscles in both areas surrounding the wrist (hand and forearm) and promote blood flow.

[0078] Embodiment 5 [Elbow extension and flexion] 10 is a diagram showing an example of application of the rehabilitation support device to elbow joint extension and flexion exercises. Elbow joint extension and flexion refers to bending and straightening the forearm relative to the upper arm.

[0079] Since the elbow joint is located between the upper arm and the forearm, for example, as shown in FIG. 10 , an upper arm side attachment 10 is attached to the upper arm and a forearm side attachment 12 is attached to the forearm, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the upper arm side attachment 10 and the other end connected to the forearm side attachment 12. Then, by changing the distance of the forearm side attachment 12 from the upper arm side attachment 10 by expanding and contracting the actuator 14, it is possible to extend and flex the elbow joint by repeatedly bending and straightening the forearm relative to the upper arm.

[0080] That is, the rehabilitation support device of embodiment 5 is capable of supporting rehabilitation exercises that extend and flex the elbow joint by rotating one part, the forearm, toward the upper arm with the elbow joint as a fulcrum while the actuator 14 is contracted, and adjusting the length of the adjustment belt 16 so that the forearm side attachment 12 (attachment 1) is close to the upper arm side attachment 10 (attachment 2), and then expanding and contracting the actuator 14.

[0081] The upper arm side attachment body 10 may be configured as an attachment that can be worn around the shoulder, for example, so that its position does not shift when the forearm is extended or flexed. The upper arm side attachment 10 is provided with a connecting portion (not shown in the figures) (hereinafter referred to as upper arm side connecting portion) for connecting the adjustment belt 16. The upper arm side connecting portion is preferably provided so as to be located on the front side of the body when the upper arm side attachment 10 is worn around the shoulder.

[0082] The forearm-side attachment 12 may be configured as a detachable attachment around the wrist, for example, so that the position does not shift when the forearm is extended or flexed. The forearm-side attachment 12 is provided with a connecting part (not shown) (hereinafter referred to as the forearm-side connecting part) to which one end of the actuator 14 is connected. The forearm side connecting portion may be provided on the palm side when the forearm side attachment 12 is worn around the wrist, for example.

[0083] Then, by adjusting the length of the adjustment belt 16 so that the elbow is bent as shown in Figure 10(a), and supplying compressed air to the actuator 14, the actuator 14 expands, gradually releasing the bent state of the elbow, and allowing it to be extended as shown in Figure 10(b). Furthermore, by discharging the compressed air from the actuator 14, the restoring force of the actuator 14 causes it to contract, returning the elbow to the bent state.

[0084] In this way, by supplying or discharging air to or from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the forearm side attachment 12, in other words, the distance between the upper arm side attachment 10 and the forearm side attachment 12, thereby allowing the elbow to extend and flex.

[0085] The massage support device described in the fifth embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage tool can be worn, for example, by wrapping around the upper arm (the other part) to which the forearm (one part) is connected by the elbow joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the upper arm to the forearm (for example, along the extension direction of the upper arm).

[0086] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the extension and flexion movements of the elbow joint described above, the massage device can stimulate the muscles in both parts of the body on either side of the elbow joint (the forearm and upper arm) and promote blood flow.

[0087] Embodiment 6 [Shoulder joint abduction and adduction] 11 is a diagram showing an example of application of the rehabilitation support device to the abduction and adduction movement of the shoulder joint. The abduction and adduction of the shoulder joint refers to opening and closing the arm relative to the trunk.

[0088] Since the shoulder joint is located between the trunk and the upper arm, for example, as shown in FIG. 11, a trunk-side attachment 10 is attached to the trunk and an arm-side attachment 12 is attached to the arm, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the trunk-side attachment 10 and the other end connected to the arm-side attachment 12. By changing the distance of the arm-side attachment 12 from the trunk-side attachment 10 by expanding and contracting the actuator 14, the shoulder joint can be subjected to abduction and adduction movements, repeatedly opening and closing the arm relative to the trunk.

[0089] In other words, the rehabilitation support device of embodiment 6 is capable of supporting rehabilitation exercises in which the shoulder joint is abducted and adducted by lateral elevation by adjusting the length of the adjustment belt 16 and then expanding and contracting the actuator 14 so that the arm-side attachment 12 (attachment 1) approaches the trunk-side attachment 10 (attachment 2) while the actuator 14 is contracted.

[0090] The trunk side attachment 10 may be configured as an attachment that can be attached around the waist, for example, so that the position does not shift when the arm is abducted or adduced. The trunk side attachment 10 is provided with a connecting part (not shown in the figures) (hereinafter referred to as trunk side connecting part) for connecting, for example, the actuator 14. The trunk side connecting part may be provided so as to be located on the side of the body when the trunk side attachment 10 is attached around the waist.

[0091] The arm-side attachment 12 may be configured as a detachable attachment around the elbow joint including the upper arm and part of the forearm so that the position does not shift when the arm is abducted or adducted. The arm-side attachment 12 is provided with, for example, a connecting portion (not shown in the figures) (hereinafter referred to as arm-side connecting portion) for connecting the adjustment belt 16. The arm-side connecting portion is preferably provided so as to be located on the inside of the elbow when the arm-side attachment 12 is attached around the elbow joint.

[0092] Then, by adjusting the length of adjustment belt 16 so that the arm is closed relative to the torso (adducted state) as shown in Figure 11(a), and supplying compressed air to actuator 14, actuator 14 extends, gradually moving the arm away from the torso and allowing it to be abducted relative to the torso as shown in Figure 11(b). Furthermore, by discharging compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, returning the arm to the closed state (adducted state).

[0093] In this way, by supplying or discharging air to or from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the trunk side attachment 10, in other words, the distance between the trunk side attachment 10 and the arm side attachment 12, thereby causing the shoulder joint to perform abduction and adduction movements.

[0094] The massage support device described in the sixth embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be attached, for example, by wrapping around the shoulder joint including the trunk (the other part) to which the upper arm (one part) is connected by the shoulder joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the trunk to the upper arm.

[0095] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the abduction and adduction movements of the shoulder joint mentioned above, the massage device can stimulate the muscles on both sides of the shoulder joint (upper arm and trunk) and promote blood flow.

[0096] Embodiment 7 [Shoulder joint extension and flexion] Figure 12 shows an example of the application of the rehabilitation support device to shoulder joint extension and flexion exercises. Shoulder joint extension and flexion refers to raising and lowering the arm while stretching it out in front of the body.

[0097] For extension and flexion of the shoulder joint, the arm is extended and raised or lowered in front of the body, so it is recommended to use it while lying face up on the floor or bed, for example, as shown in Figure 12. In this case, while lying down, a fixed object (for example, a bed frame or a pillar) is used, positioned a predetermined distance above the shoulder, and the fixed object-side attachment 10 is attached to this fixed object, and the arm-side attachment 12 is attached to the arm. An actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the fixed object-side attachment 10 and the other end connected to the arm-side attachment 12. The distance between the arm-side attachment 12 and the fixed object-side attachment 10 is changed by the extension and contraction action of the actuator 14, allowing the shoulder joint to be extended and flexed by repeatedly raising and lowering the arm with the arm stretched out.

[0098] That is, the rehabilitation support device of embodiment 7, with the actuator 14 contracted, rotates one part of the body, the arm, using the shoulder joint as a fulcrum so that it passes in front of the body, and adjusts the length of the adjustment belt 16 and then expands and contracts the actuator 14 so that the arm side attachment 12 (attachment 1) is close to the fixed object side attachment 10 (attachment 2), thereby enabling support for rehabilitation exercise in which the shoulder joint is extended and flexed by raising the arm forward.

[0099] The fixed object side attachment body 10 may be configured to be attachable to, for example, a fixed object so that its position does not shift when the arm is raised and lowered in an outstretched state via the front side of the body to extend and flex the shoulder joint. The fixed object-side attachment 10 is provided with, for example, a connecting part (hereinafter referred to as the fixed object-side connecting part) not shown in the drawing for connecting the actuator 14. The fixed object-side connecting part may be provided so as to be located on the body (shoulder) side of the person lying down when the fixed object-side attachment 10 is attached to a fixed object.

[0100] The arm-side attachment 12 may be configured as a detachable attachment around the elbow joint, including part of the upper arm and forearm, so that it does not shift position when the arm is extended and raised or lowered in front of the body to extend and flex the shoulder joint. The arm-side attachment 12 is provided with a connecting part (not shown) (hereinafter referred to as arm-side connecting part) to which one end of the adjustment belt 16 is connected. The arm-side attachment part may be located, for example, on the outside side of the elbow when the arm-side attachment 12 is attached around the elbow joint.

[0101] Then, by adjusting the length of adjustment belt 16 so that the arm is stretched upward as shown in Figure 12(a), and supplying compressed air to actuator 14, actuator 14 extends, and the arm passes over the front of the body and can be lowered along the torso as shown in Figure 12(b) (extension). Furthermore, by discharging compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, returning the arm to the raised position (flexion).

[0102] In this way, by supplying or discharging air to or from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the fixed object side attachment 10, in other words, the distance between the fixed object side attachment 10 and the arm side attachment 12, thereby causing the shoulder joint to extend and flex.

[0103] The massage support device described in the seventh embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be attached, for example, by wrapping around the shoulder joint including the trunk (the other part) to which the upper arm (one part) is connected by the shoulder joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the trunk to the upper arm.

[0104] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the abduction and adduction movements of the shoulder joint mentioned above, the massage device can stimulate the muscles on both sides of the shoulder joint (upper arm and trunk) and promote blood flow.

[0105] Embodiment 8 [Knee extension and flexion] 13 is a diagram showing an example of application of the rehabilitation support device to knee joint extension and flexion exercises. Knee joint extension and flexion refers to bending and straightening the lower leg relative to the thigh. Since knee extension and flexion involves extending and bending the lower limbs in front of the body, it is recommended that the device be configured to be used while lying face up on the floor or bed, as shown in Figure 13.

[0106] Since the knee joint is located between the thigh and the lower leg, for example, as shown in FIG. 13, a thigh-side attachment 10 is attached to the base of the thigh and a lower leg-side attachment 12 is attached to the ankle, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the thigh-side attachment 10 and the other end connected to the lower leg-side attachment 12. By changing the distance between the thigh-side attachment 10 and the lower leg-side attachment 12 by expanding and contracting the actuator 14, it is possible to perform extension and flexion movements of the knee joint, repeatedly bending and straightening the lower leg relative to the thigh.

[0107] That is, the rehabilitation support device of embodiment 8 is capable of supporting rehabilitation exercises that extend and flex the knee joint by rotating one part, the lower leg, toward the thigh with the knee joint as the fulcrum while the actuator 14 is contracted, and then adjusting the length of the adjustment belt 16 and expanding and contracting the actuator 14 so that the lower leg side attachment 12 (attachment 1) is brought closer to the thigh side attachment 10 (attachment 2).

[0108] The thigh-side attachment 10 may be configured to be detachably attached to, for example, the base of the thigh so that its position does not shift when the lower leg is bent and straightened relative to the thigh to extend and flex the knee joint. The thigh side attachment 10 is provided with a connecting portion (not shown in the figures) (hereinafter referred to as the thigh side connecting portion) for connecting the actuator 14. The thigh side connecting portion is preferably provided, for example, on the back side (rear side) of the thigh when the thigh side attachment 10 is attached to the thigh.

[0109] The crus side attachment body 12 may be configured to be detachable from, for example, the ankle so that its position does not shift when the crus side attachment body 12 is bent and extended relative to the thigh to flex and extend the knee joint. The crus side attachment body 12 is provided with a connecting part (not shown in the figures) (hereinafter referred to as the crus side connecting part) to which one end of the adjustment belt 16 is connected. The crus side connecting part may be located, for example, on the calf side when the crus side attachment body 12 is attached around the ankle.

[0110] Then, by adjusting the length of adjustment belt 16 so that the knee joint is bent as shown in Figure 13(a), and supplying compressed air to actuator 14, actuator 14 expands, and the bent state of the knee joint is gradually extended as shown in Figure 13(b). Furthermore, by discharging the compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, and the knee joint returns to the bent state.

[0111] In this way, by supplying and discharging air to and from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the thigh side attachment 10, in other words, the distance between the thigh side attachment 10 and the lower leg side attachment 12, thereby causing the knee joint to perform extension and flexion movements.

[0112] The massage support device described in the eighth embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be worn, for example, by wrapping around the thigh (the other part) where the lower leg (one part) is connected by the knee joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the thigh to the lower leg.

[0113] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the extension and flexion movements of the knee joint described above, the massage device can stimulate the muscles on both sides of the knee joint (thigh and lower leg) and promote blood flow.

[0114] Embodiment 9 [Hip extension and flexion] Figure 14 shows an example of the application of the rehabilitation support device to hip joint extension and flexion exercises. Hip joint extension and flexion refers to bending and straightening the thigh relative to the torso while bending the knee joint in a supine position. For hip extension and flexion, the user is in a supine position, bending the knee joint and flexing and straightening the thigh relative to the torso. Therefore, it is recommended that the device be configured to be used while lying on one's back on the floor or bed, as shown in Figure 14.

[0115] Since the hip joint is located between the trunk (torso) and the lower leg, for example, as shown in FIG. 14, a torso-side attachment 10 is attached around both shoulders and a lower leg-side attachment 12 is attached to the knee joint, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the torso-side attachment 10 and the other end connected to the lower leg-side attachment 12. By changing the distance of the lower leg-side attachment 12 from the torso-side attachment 10 by expanding and contracting the actuator 14, it is possible to perform hip joint extension and flexion movements in which the thigh is repeatedly bent and extended relative to the torso while bending the knee joint.

[0116] In other words, the rehabilitation support device of embodiment 9 is capable of supporting rehabilitation exercises that extend and flex the hip joint by rotating one part of the body, the thigh, toward the trunk at the front side of the body with the hip joint as a fulcrum while the actuator 14 is contracted, and then adjusting the length of the adjustment belt 16 and expanding and contracting the actuator 14 so that the thigh side attachment 12 (attachment 1) is close to the torso side attachment 10 (attachment 2).

[0117] The torso-side attachment 10 can be configured, for example, as belts wound around the left and right shoulders and connected in front of the chest so that the position does not shift when the knee joint is bent and the thighs are bent and straightened relative to the torso, thereby extending and flexing the hip joint. The torso-side attachment 10 is provided with a connecting portion (not shown in the figures) (hereinafter referred to as a torso-side connecting portion) for connecting the actuator 14. The torso-side connecting portion may be provided, for example, so as to be located on the chest side when the torso-side attachment 10 is attached to the torso.

[0118] The lower leg side attachment body 12 may be configured as an orthosis that can be attached and detached around the knee joint, including part of the thigh and lower leg, so that its position does not shift when the thigh is bent and straightened relative to the torso while bending the knee joint, thereby extending and flexing the hip joint. The lower leg side attachment body 12 is provided with a connecting part (not shown) (hereinafter referred to as the arm-lower leg side connecting part) to which one end of the adjustment belt 16 is connected. The lower leg side connecting part may be located, for example, in front of the knee when the lower leg side attachment body 12 is attached around the knee.

[0119] Then, as shown in Figure 14(a), the length of adjustment belt 16 is adjusted so that the hip joint is in a flexed state, and compressed air is supplied to actuator 14, which causes actuator 14 to expand, gradually straightening the flexed state of the hip joint as shown in Figure 14(b). Furthermore, by discharging the compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, and the hip joint returns to a flexed state.

[0120] In this way, by supplying and discharging air to and from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the torso side attachment 10, in other words, the distance between the torso side attachment 10 and the lower leg side attachment 12, thereby allowing the hip joint to extend and flex.

[0121] The massage support device described in the ninth embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be worn, for example, by wrapping around the hip joint, including the trunk (the other part) to which the thigh (one part) is connected by the hip joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the trunk to the thigh.

[0122] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the hip joint extension and flexion movements mentioned above, the massage device can stimulate the muscles on both sides of the hip joint (trunk and thigh) and promote blood flow.

[0123] Embodiment 10 [Hip adduction and abduction] 15 is a diagram showing an example of application of the rehabilitation support device to hip joint adduction and abduction movements. Hip joint adduction and abduction refers to closing and opening one leg relative to the other leg. For hip adduction and abduction, one leg is closed or opened relative to the other leg in a supine position, so it is recommended to configure it so that it can be used while lying on your back on the floor or bed, for example, as shown in Figure 15.

[0124] In the following explanation, the hip joint of the right lower limb is assumed to be adduced and abducted with the left lower limb as the reference, but it may also be configured so that the hip joint of the left lower limb is adduced and abducted with the right lower limb as the reference.

[0125] In this case, for example, as shown in FIG. 15, a left lower limb side attachment 10 is attached around the knee joint of the left lower limb, and a right lower limb side attachment 12 is attached around the knee joint of the right lower limb, and an actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the left lower limb side attachment 10 and the other end connected to the right lower limb side attachment 12. By changing the distance between the left lower limb side attachment 10 and the right lower limb side attachment 12 by expanding and contracting the actuator 14, it is possible to perform adduction and abduction movements of the hip joint, in which one lower limb is repeatedly closed and opened relative to the other lower limb.

[0126] In other words, the rehabilitation support device of embodiment 10 is capable of supporting rehabilitation exercises that adduct and abduct the hip joint by rotating one of the parts, the right lower limb, toward the left lower limb with the hip joint as a fulcrum when the actuator 14 is contracted, and then adjusting the length of the adjustment belt 16 and expanding and contracting the actuator 14 so that the right lower limb side attachment body 12 (attachment 1) is close to the left lower limb side attachment body 10 (attachment 2).

[0127] The left lower limb side attachment body 10 and the right lower limb side attachment body 12 may be configured as detachable orthoses that can be attached or detached around the knee joint including a part of the thigh and lower leg, for example, so that they do not shift position when one lower limb is subjected to hip joint adduction and abduction movements that repeatedly close and open the other lower limb relative to the other lower limb. The left lower limb side attachment 10 is provided with a connecting portion (hereinafter referred to as the left lower limb side connecting portion) not shown in the figure for connecting the ends of the actuators 14 connected in series, and the right lower limb side attachment 12 is provided with a connecting portion (hereinafter referred to as the right lower limb side connecting portion) not shown in the figure for connecting the end of the adjustment belt 16. The left lower leg side connecting portion and the right lower leg side connecting portion are preferably provided so as to be positioned in front of the knee when the left lower leg attachment 10 is attached around the left knee and the right lower leg attachment 12 is attached around the right knee.

[0128] Then, by adjusting the length of the adjustment belt 16 so that the left and right lower limbs are in a closed state as shown in Fig. 15(a), and supplying compressed air to the actuator 14, the actuator 14 is extended, and as shown in Fig. 15(b), the right lower limb is gradually opened from a closed state relative to the left lower limb (abduction).Furthermore, by discharging the compressed air from the actuator 14, the restoring force of the actuator 14 causes it to contract, returning the right lower limb to a closed state relative to the left lower limb (adduction).

[0129] In this way, by supplying and discharging air to and from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the left lower limb side attachment 10, in other words, the distance between the left lower limb side attachment 10 and the right lower limb side attachment 12, thereby allowing the hip joint to perform adduction and abduction movements.

[0130] The massage support device described in the tenth embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be attached, for example, by wrapping around the hip joint, including the trunk (the other part) to which the thigh (one part) is connected by the hip joint, and can be configured with multiple air chambers arranged in a row along the blood flow from the trunk to the right lower leg.

[0131] The massage device is equipped with a massage control device that is equipped with a pressurizing means that supplies compressed air to each air chamber to pressurize it, and a depressurizing means that discharges compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the aforementioned hip joint adduction and abduction movements, the massage device can stimulate the muscles on both sides of the hip joint (trunk and thigh) and promote blood flow.

[0132] Embodiment 11 [Backward and forward bending of the thoracic-lumbar junction] 16 is a diagram showing an example of application of the rehabilitation support device to backward bending and forward bending exercises of the thoracic-lumbar junction. Forward bending and backward bending of the thoracic-lumbar junction means bending the chest forward or backward relative to the lumbar. Although the thoracic-lumbar junction is made up of multiple vertebrae, it is considered as a single joint in the eleventh embodiment. For backward and forward bending exercises of the thoracic-lumbar transition region, it is advisable to configure the rehabilitation support device so that it can be used while lying face up on the floor or bed. For example, as shown in Figure 16, it is advisable to use the functions of a bed that allows the angle of the head, back, feet, etc. to be freely adjusted.

[0133] In this case, a fixed object such as a bed frame is used on the foot side of the user lying on the bed, and the fixed-object-side attachment 10 is attached to this fixed object, and the chest-side attachment 12 is attached around the torso. An actuator 14 and an adjustment belt 16 are connected in series, with one end connected to the fixed-object-side attachment 10 and the other end connected to the chest-side attachment 12. The distance between the chest-side attachment 12 and the fixed-object-side attachment 10 is changed by the expansion and contraction operation of the actuator 14, thereby allowing the chest to bend backward and forward relative to the waist, thereby performing forward and backward bending movements of the thoracic-lumbar junction.

[0134] In other words, the rehabilitation support device of embodiment 11 is capable of supporting rehabilitation exercises that bend the thoracic-lumbar junction forward and backward by rotating one part, i.e., the chest, around the thoracic-lumbar junction as a fulcrum when the actuator 14 is contracted, and adjusting the length of the adjustment belt 16 so that the chest-side attachment 12 (attachment 1) is close to the fixed object-side attachment 10 (attachment 2), and then expanding and contracting the actuator 14.

[0135] The fixed-object-side attachment body 10 may be configured to be attachable to, for example, a fixed object so that its position does not shift when the chest is bent backward or forward relative to the waist. The fixed object-side attachment 10 is provided with, for example, a connecting part (hereinafter referred to as the fixed object-side connecting part) not shown in the drawings for connecting the actuator 14. The fixed object-side connecting part may be provided, for example, in a position facing the lying person when the fixed object-side attachment 10 is attached to a fixed object.

[0136] The chest-side attachment 12 may be configured as a detachable attachment around the chest, for example, so that its position does not shift when the chest is bent forward or backward relative to the waist. The chest-side attachment 12 is provided with a connecting part (not shown in the figures) (hereinafter referred to as the chest-side connecting part) to which one end of the adjustment belt 16 is connected. The chest-side connecting part may be provided so as to be located closer to the neck when the chest-side attachment 12 is attached around the chest.

[0137] Then, by adjusting the length of adjustment belt 16 so that the chest is bent forward relative to the waist as shown in Fig. 16(a), and supplying compressed air to actuator 14, actuator 14 expands, allowing the chest to bend gradually backward as shown in Fig. 16(b). Furthermore, by discharging compressed air from actuator 14, the restoring force of actuator 14 causes it to contract, returning the chest to the bent forward state.

[0138] In this way, by supplying and discharging air to and from the actuator 14, the actuator 14 changes the distance between the adjustment belt 16 and the fixed object side attachment 10, in other words, the distance between the fixed object side attachment 10 and the chest side attachment 12, thereby causing the thoracic-lumbar junction to perform backward and forward bending movements.

[0139] The massage support device described in the eleventh embodiment may be configured to include, for example, the massage tool described in the second embodiment. In this case, the massage device can be attached, for example, by wrapping around the thoracic-lumbar transition area, including the chest (the other area) to which the lumbar area (one area) is connected by the thoracic-lumbar transition area, and can be configured with multiple air chambers arranged in a row along the blood flow from the chest to the lumbar area.

[0140] The massage device is equipped with a massage control device that is equipped with a pressurizing means for supplying compressed air to each air chamber to pressurize it, and a decompression means for discharging compressed air from each pressurized air chamber to depressurize it.By controlling the supply and discharge of compressed air to the multiple air chambers in coordination with the aforementioned backward and forward bending movements of the thoracic-lumbar junction, it is possible to stimulate the muscles in both areas (thoracic and lumbar) on either side of the thoracic-lumbar junction and to promote blood flow.

[0141] As described above, a rehabilitation device comprises a first attachment device attached to one part of a joint that is the target of rehabilitation; a second attachment device attached to a part that serves as a starting point for moving the one part in a predetermined direction with the joint as a fulcrum; an actuator that is expandable in at least one direction and has one end in the expansion direction connected to the first attachment device or the second attachment device; an adjustment belt that is adjustable in length and has one end connected to the other end in the expansion direction of the actuator and the other end connected to the second attachment device or the first attachment device so that a predetermined tension is applied to the second attachment device or the first attachment device; and a control device that controls the expansion and contraction operation of the actuator.When the actuator is contracted, the one part of the joint can be rotated in a predetermined direction with the joint as a fulcrum, and the length of the adjustment belt can be adjusted so that the first attachment device is close to the second attachment device, and the actuator can be expanded and contracted to move the joint, thereby stimulating the muscles in the area between the joints.

[0142] The amount of expansion and contraction and the size of the actuator 14 may be set depending on the range of motion of the joint to be rehabilitated and the part of the joint.

[0143] Furthermore, the relationship in which the actuator 14 and the adjustment belt 16 are connected to the wearing tool is not limited to the above embodiment, and may be changed as appropriate.

[0144] Furthermore, the area covered by the massage tool is not limited to that shown in embodiments 2 to 11, but may be configured to promote blood flow during rehabilitation over a wider area, such as by covering both areas including the joints that are the subject of rehabilitation. [Explanation of symbols]

[0145] 1. Foot flexion and extension device, 2. Foot flexion and extension device, 6. Pneumatic compression device, 10 Body-side attachment, forearm-side attachment, upper arm-side attachment, trunk-side attachment, fixed object-side attachment, Thigh side attachment, left lower leg side attachment (attachment 1), 12 Foot side attachment body, hand side attachment body, forearm side attachment body, arm side attachment body, lower leg side attachment body, Right lower limb side attachment, chest side attachment (attachment 2), 14 actuator, 16 adjustment belt, 18 plantar flexion control device, 60 Massage tool, 64 Massage tool control device.

Claims

1. a wearing device to be worn on one part of a joint to be the subject of rehabilitation; two attachments attached to a part that serves as a starting point for moving the one part in a predetermined direction with the joint as a fulcrum; an actuator that is expandable in at least one direction and has one end in the expansion / contraction direction connected to the first attachment or the second attachment; an adjustment belt whose length is adjustable, one end of which is connected to the other end of the actuator in the extension / contraction direction, and the other end of which is connected to the second attachment or the first attachment so that a predetermined tension acts on the second attachment or the first attachment; a control device for controlling the extension and contraction operation of the actuator; Equipped with A rehabilitation support device that, with the actuator contracted, rotates one of the parts in a predetermined direction using the joint as a fulcrum, adjusts the length of the adjustment belt so that the first attachment is close to the second attachment, and then expands and contracts the actuator to move the joint.

2. a massage tool that is attached so as to encase the one region connected to the other region by the joint, and has a plurality of air chambers arranged in a line along the blood flow from the other region to the one region; and a massage tool control device that supplies and exhausts compressed air to the plurality of air chambers of the massage tool, 2. The rehabilitation support device according to claim 1, wherein the massage device control device further comprises pressurizing means for supplying compressed air to each air chamber to pressurize each air chamber, and depressurizing means for discharging compressed air from each pressurized air chamber to depressurize each air chamber.

3. A foot rehabilitation support device that performs dorsiflexion and plantar flexion exercises of the foot, a torso attachment body attached to the waist; a foot-side attachment to be attached to the foot; an actuator that is stretchable in at least one direction and has one end in the stretching direction connected to the torso-side attachment or the foot-side attachment; an adjustment belt whose length is adjustable, one end of which is connected to the other end of the actuator in the extension / contraction direction, and the other end of which is connected to a position other than the leg portion so that a predetermined tension is applied to the foot-side attachment or the torso-side attachment; a control device for controlling the extension and contraction operation of the actuator; Equipped with This rehabilitation support device is used by adjusting the length of the adjustment belt so that the foot is in a dorsiflexed state when the actuator is contracted.

4. a massage device that is worn so as to wrap around the leg and has a plurality of air chambers arranged in a proximal direction from the distal end of the leg toward the center of the body; and a massage device control device that supplies and discharges compressed air to the plurality of air chambers of the massage device, 4. The rehabilitation support device according to claim 3, wherein the massage device control device further comprises pressurizing means for supplying compressed air to each air chamber to pressurize each air chamber, and depressurizing means for discharging compressed air from each pressurized air chamber to depressurize each air chamber.

5. 4. The rehabilitation support device according to claim 1, wherein the actuator is a soft actuator that is operated by air pressure.

Images