Training device

Abstract

To provide a training device capable of appropriately training the joints of the limbs of a user.SOLUTION: This device is provided with a moving body 3 having a placing base 31,32 for placing a limb part distal to a joint, a body part 2 for supporting the moving body 3 movably in the longitudinal direction, a driving part 4 for moving the moving body 3 to the body part 2, and a control part 8 for controlling the driving part 4 so as to perform the motion of advancing or retreating the moving body 3.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an exercise device for exercising the joints of a user's limbs. [Background technology]

[0002] In the past, in the rehabilitation of people (patients) whose upper limb function has been paralyzed due to diseases such as stroke, therapists have supported the patient's limbs and performed training to bend and stretch the limb joints, or training has been performed using a training device such as that described in Patent Document 1.

[0003] In the training device of Patent Document 1, a moving element is slidably mounted on an inclined member, and the training load is set by applying a load to the moving element using a weight or the like. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-308352 Summary of the Invention [Problem to be solved by the invention]

[0005] When training with a therapist, the effectiveness of the training varied depending on the therapist's experience and skill. Because there was a limit to the amount of time a therapist could devote to each patient, it was not possible to increase the number of training sessions for each patient. Furthermore, in the training device of Patent Document 1, the load was set using a weight or the like, but a large frictional force that could not be ignored by the patient occurred between the moving element and the tilting member, resulting in a load greater than the set load being applied.

[0006] An object of the present invention is to provide a training device that can properly train the joints of the user's limbs. [Means for solving the problem]

[0007] The training device according to the first aspect of the present invention is a training device for training the joints of a user's limbs, and is characterized by comprising a moving body having a platform on which a limb portion distal to the joint is placed, a main body portion supporting the moving body so that it can move in the forward and backward directions, a drive unit for moving the moving body relative to the main body portion, and a control unit for controlling the drive unit to perform a movement in which the moving body moves forward or backward.

[0008] In addition to the above configuration, the present invention can further include the following configuration.

[0009] (a) The moving body is characterized by including a guide portion that guides the moving body to move in the forward and backward directions.

[0010] (b) The apparatus is characterized by including a load applying unit that applies a predetermined amount of load to the movement of the moving body during the exercise.

[0011] (c) The load applying portion is provided on the main body portion and includes a friction member that comes into contact with the moving body or a displacement member that is displaced by the movement of the moving body.

[0012] (d) The load applying unit is characterized in that the control unit applies the load by controlling the drive unit.

[0013] (e) The device is characterized by comprising a load amount setting unit that sets the amount of load applied by the load applying unit.

[0014] (f) The device is characterized in that it is provided with a detection unit that detects when the moving body has reached a predetermined target position provided on the main body, and the control unit controls the drive unit to terminate the load operation that applies the load to cause movement based on the detection by the detection unit.

[0015] (g) The target position is changeable.

[0016] (h) The load amount setting unit sets a first load amount, and in a first load operation in which the first load amount is applied to the movement of the moving body to cause it to move, if the moving body does not move by more than a predetermined value, the control unit controls the load amount setting unit to change the setting value from the first load amount to a second load amount smaller than the first load amount.

[0017] (i) The moving body is provided on the side of the main body.

[0018] (j) The moving body is detachably provided to the main body.

[0019] The training device according to the second aspect of the present invention is a training device for training the joints of a user's limbs, and is characterized by comprising: a moving body having a platform on which a part of the limb distal to the joint is placed; a main body portion supporting the moving body so that it can move in the forward and backward directions; a load application portion that applies a predetermined amount of load to the movement of the moving body in moving the moving body forward or backward; and a load amount setting portion that sets the amount of load applied by the load application portion. [Effects of the Invention]

[0020] According to the first aspect of the present invention, the moving body is supported on the main body so that it can move in the forward and backward directions, and is equipped with a drive unit that moves the moving body, and a control unit that controls the drive unit to perform movements that move the moving body forward or backward, so that appropriate training can be performed by the control unit controlling the drive unit.

[0021] Furthermore, according to the present invention having the above configuration (a), since a guide section is provided, even if there is variation in the direction of the force applied by the user to the moving body, the moving body can be moved smoothly in the forward and backward directions, which are the directions in which it should be moved, and appropriate training can be performed.

[0022] Furthermore, according to the present invention having the above configuration (b), since a load application section is provided, when the user moves the moving body forward or backward, the user is subjected to a predetermined amount of load, thereby enabling appropriate training.

[0023] Furthermore, according to the present invention having the above configuration (c), the load applying portion is configured to include a friction member that comes into contact with the moving body or the displacement member that is displaced when the moving body moves, so that the load can be applied with a simple configuration.

[0024] Furthermore, according to the present invention having the above configuration (d), the load applying unit is configured to apply a load by controlling the drive unit, so the amount of load can be easily adjusted. Also, the load can be applied stably. Furthermore, the load can be applied with a simple configuration.

[0025] Furthermore, according to the present invention having the above configuration (e), the load setting section is provided, so that an appropriate load can be set according to the state of the user.

[0026] Furthermore, according to the present invention having the above configuration (f), a detection unit is provided that detects when the moving body has reached a predetermined target position, and based on the detection by the detection unit, the load operation that applies a load to cause exercise is controlled to end, so that the user can recognize that the moving body has been moved to the target position.

[0027] Furthermore, according to the present invention having the above configuration (g), the target position is changeable, so that the target position can be set to a position suitable for the user.

[0028] Furthermore, according to the present invention having the above configuration (h), if the moving body is not moved more than a predetermined value in the first load operation in which the moving body is exercised with a first load amount, the set value of the load amount setting unit is controlled to be changed from the first load amount to a second load amount smaller than the first load amount.Therefore, if the moving body cannot be moved more than a predetermined value with the first load amount, the load amount can be automatically changed to a smaller load amount, and the user can train with an appropriate load amount according to their condition.

[0029] Furthermore, according to the present invention having the above configuration (i), the moving body is provided on the side of the main body, so the height of the entire device can be reduced, and the height at which the limbs are placed can also be reduced.

[0030] Furthermore, according to the present invention having the above configuration (j), since the moving body is detachably attached to the main body, the moving body can be removed from the main body and easily carried around. Also, the installation layout of the device can be changed.

[0031] According to the second aspect of the present invention, the movable body is supported on the main body so as to be movable in the forward and backward directions, and is provided with a load applying unit that applies a load to the movable body in response to its movement and a load setting unit that sets the amount of load to be applied, so that the load can be set to an amount appropriate for the user, allowing for appropriate training. Furthermore, the limbs distal to the joints can be placed on the support platform, allowing for easy and stable training. [Brief explanation of the drawings]

[0032] [Figure 1] 1 is an external perspective view of a training apparatus according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a perspective view of the training device with the upper cover of the main body removed. [Figure 3] FIG. 2 is a plan view of the training device with the upper cover of the main body removed. [Figure 4] FIG. 1 is a side view of the training device. [Figure 5] FIG. [Figure 6] 6(a) is a cross-sectional view taken along the line VI-VI in FIG. 1, and FIG. 6(b) is a schematic view of the same cross-section. [Figure 7] 4 is a partially enlarged view of the center portion of the main body in FIG. 3 in the front-rear direction. [Figure 8] FIG. 2 is a block diagram of a training device including a control unit. [Figure 9] FIG. 10 is a perspective view of a training device in a modified example with the upper cover of the main body removed. [Figure 10]FIG. 10 is a plan view of a training device in a modified example with the upper cover of the main body removed. [Figure 11] FIG. 10 is a block diagram of a training device according to a modified example. [Figure 12] FIG. 10 is a block diagram of a training device according to a modified example. [Figure 13] FIG. 10 is a block diagram of a training device according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0033] [First embodiment] A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an external perspective view of a training device 1 according to the first embodiment of the present invention. FIG. 2 is a perspective view of the training device 1 with the upper cover 10a of the main body 2 removed. FIG. 3 is a plan view of the training device 1 with the upper cover 10a of the main body 2 removed. FIG. 4 is a side view of the training device 1. FIG. 5 is a bottom view of the training device 1. FIG. 6(a) is a cross-sectional view taken along line VI-VI in FIG. 1. FIG. 6(b) is a schematic diagram of the same cross section as FIG. 6(a). FIG. 7 is a partially enlarged view of the central portion of the main body 2 in the front-rear direction in FIG. 3. FIG. 8 is a block diagram of the training device 1 including a control unit 8.

[0034] (Overall composition) The training device 1 includes a main body 2, a moving body 3, an operation unit 11, and a control unit 8. The moving bodies 3 are provided on both sides of the main body 2 in the direction of the arrow X. The operation unit 11 is provided on an upper wall 2U of the main body 2. As shown in FIG. 1, when the operation unit 11 is viewed from the front, the right side in the direction of the arrow X is referred to as the "right" and the left side as the "left," and the near side in the direction of the arrow Y is referred to as the "front" and the far side as the "rear." The training device 1 is configured to be used by being placed on a surface of appropriate height, such as a table.

[0035] (Main body) The main body 2 is rectangular in plan view and pentagonal in side view, with a downwardly sloping front. The main body 2 has an upper cover 10a at its top. The main body 2 has handles 12 on its front wall 2A and rear wall 2B for users to hang their fingers on when carrying the training device 1. The main body 2 has a power switch 13 for turning on and off power at one corner of the rear wall 2B. As shown in FIGS. 4 and 5 , the main body 2 has multiple legs 14 that contact the support surface on which the training device 1 is placed. The legs 14 are provided on the bottom surface of the main body 2 and are made of, for example, rubber to generate high friction between the support surface and the support surface. An endless timing belt 46 that extends in the front-rear direction and travels around is installed on the right side of the interior of the housing 20 of the main body 2, as shown in FIGS. 2 and 3 . In FIGS. 2 and 3 , the center of the timing belt 46 in the front-rear direction is connected to the left and right moving bodies 3 by supports 21. When the user moves the moving body 3, the timing belt 46 moves in a circular motion. As shown in FIGS. 1 and 2, the main body 2 has through-holes 22 formed in the right wall 2R and the left wall 2L. The through-holes 22 are formed to extend elongatedly in the front-to-rear direction (the direction of the arrow Y). A support 21 is installed inside the main body 2 to connect and support the left and right moving bodies 3. The left and right side ends 21R, 21L of the support 21 protrude outward from the through-holes 22 and are fixed to the undersides of the left and right moving bodies 3 as shown in FIG.

[0036] A drive unit 4 is provided in the rear of the main body 2, and a load applying unit 6 is provided in the front. The drive unit 4 is configured to move the moving body 3 in the front-to-rear direction relative to the main body 2. The load applying unit 6 is configured to apply a load to the moving body 3 when it moves in the front-to-rear direction.

[0037] As shown in FIG. 6(a), a detector 23 for detecting the forward and backward positions of the movable body 3 is provided inside the main body 2. The detector 23 includes a detector 23A provided on the front side and a detector 23B provided on the rear side inside the main body 2. The detectors 23A and 23B are configured by transmission-type optical sensors including a light-emitting element and a light-receiving element. The detector 23A is installed at a position that serves as the end point when the support body 21 is moved forward. The detector 23B is installed at a position that serves as the end point when the support body 21 is moved backward. As shown in FIG. 6(b), the support body 21 includes a detector piece 211A at its front and a detector piece 211B at its rear. The detector piece 211A is formed to protrude forward a predetermined length from the front of the support body 21. The detector piece 211B is formed to protrude backward a predetermined length from the rear of the support body 21. When the support 21 is moved forward, the front edge 212A of the detection piece 211A blocks light from the detection unit 23A, causing the detection unit 23A to detect the support 21. When the support 21 is moved rearward, the rear edge 212B of the detection piece 211B blocks light from the detection unit 23B, causing the detection unit 23B to detect the support 21. The positions at which the detection pieces 211A and 211B are detected by the detection units 23A and 23B are an example of the target positions when the moving body 3 is moved. In other words, the detection unit 23 (23A and 23B) detects that the moving body 3 has reached a predetermined target position provided on the main body 2. Note that, although the present embodiment includes the detection unit 23A and the detection unit 23B, a configuration including only one of them may be used. The moving body 3 moves in the front-rear direction together with the support 21. Therefore, the position of the moving body 3 is indirectly detected by the detecting portions 23A and 23B detecting the support body 21 (the front end edge 212A of the detection piece 211A and the rear end edge 212B of the detection piece 211B).

[0038] The detection unit 23 detects the initial position of the moving object 3 when training begins. The position where the detection unit 23A detects the front edge 212A of the detection piece 211A is the initial position. At this time, the path where the moving object 3 (support body 21) moves backward from the initial position is the outward path, and the path where the moving object 3 (support body 21) moves forward toward the initial position is the return path. The position where the detection unit 23B detects the rear edge 212B of the detection piece 211B is the terminal position of the outward path. The maximum movement distance of the moving object 3 from the initial position on the outward path is configured to be, for example, 350 mm. Note that in this embodiment, the detection unit 23A is configured to detect the initial position and the terminal position of the detection unit 23B. However, conversely, the position where the detection unit 23B detects the rear edge 212B of the detection piece 211B may be configured to be the initial position, and the position where the detection unit 23A detects the front edge 212A of the detection piece 211A may be configured to be the terminal position of the outward path. Moreover, it may be configured so that it is possible to switch between the detectors 23A and 23B which detect the initial position by setting.

[0039] The main body 2 includes an assist detection unit 72 for performing assisted motion training. Assisted motion assists the user's own movement of the moving object 3 by driving the drive unit 4. The assist detection unit 72 detects whether the user has moved the moving object 3 a predetermined distance, which is a small length, such as 5 mm. The assist detection unit 72 includes a displacement plate 24 and a displacement detection unit 27. As shown in FIG. 7 , the displacement plate 24 is installed on the upper surface of the support 21. The predetermined distance is the length required for the user to move the moving object 3 by their own force, switch the displacement detection unit 27 between ON and OFF states, and cause the control unit 8 to start driving the drive unit 4 during assisted motion training. The displacement plate 24 has a long hole 241 extending in the front-rear direction. The length of the long hole 241 in the front-rear direction is set to a predetermined length slightly longer than the predetermined distance. A cylindrical member 25 loosely fitted into the long hole 241 is fixed to the support 21 with screws. The cylindrical member 25 is formed in a circular shape in a plan view, and is configured to inscribe the elongated hole 241 in the left-right direction and to have play in the front-rear direction. The displacement plate 24 is attached to the support body 21 so as to be movable a predetermined distance. The cylindrical member 25 is movable a predetermined distance in the front-rear direction within the elongated hole 241. The displacement plate 24 also has a protruding piece 242. The protruding piece 242 is used to detect whether the movable body 3 has been moved a predetermined distance based on whether the displacement detection unit 27 detects the protruding piece 242. The protruding piece 242 is formed so as to bend downward with respect to the flat surface portion 243 of the displacement plate 24 and protrude downward a predetermined length.

[0040] The holding plate 26 is fixed to the upper surface of the displacement plate 24 via a lower belt portion 461 of the timing belt 46. A portion of the lower belt portion 461 is sandwiched between the displacement plate 24 and the holding plate 26. As a result, the displacement plate 24 is fixed to the lower belt portion 461.

[0041] A displacement detection unit 27 is fixed to the support body 21 via a fixing member 271. The displacement detection unit 27 detects whether the displacement plate 24 has been displaced a predetermined distance relative to the support body 21. The displacement detection unit 27 is a reflective optical sensor including a light-emitting unit and a light-receiving unit. The displacement detection unit 27 is provided below the displacement plate 24 to face the protruding piece 242 and is configured to be able to detect the protruding piece 242. When the support body 21 is moved forward, the cylindrical member 25 moves forward together with the support body 21 and comes into contact with the front edge 241A of the elongated hole 241. At this time, the protruding piece 242 faces the light-emitting unit and the light-receiving unit of the displacement detection unit 27, and the displacement detection unit 27 enters a detection state in which it has detected the protruding piece 242. Conversely, when the support body 21 is moved backward, the cylindrical member 25 moves backward together with the support body 21 and comes into contact with the rear edge 241B of the elongated hole 241. At this time, the protruding piece 242 does not face the light-emitting part and the light-receiving part of the displacement detection unit 27, and the displacement detection unit 27 is in a non-detection state in which it is not detecting the protruding piece 242. The control unit 8 can control the driving of the drive unit 4 according to the detection result of the displacement detection unit 27.

[0042] (Drive unit) The drive unit 4 is configured to move the support 21 in the front-to-rear direction. The movable body 3 is attached to the support 21 and therefore moves in the front-to-rear direction together with the support 21. Therefore, the drive unit 4 is configured to move the movable body 3 in the front-to-rear direction relative to the main body 2.

[0043] The drive unit 4 includes a motor 41, a clutch 42, and a plurality of members for transmitting drive. The motor 41 is configured as a stepping motor. A pulley 411 is fixed to the drive shaft of the motor 41. A pulley 422 is fixed to a rotation shaft 421 of the clutch 42. A timing belt 43 is stretched between the pulley 411 and the pulley 422. When the motor 41 is driven and the pulley 411 rotates, the pulley 422 rotates via the timing belt 43, and the rotation shaft 421 rotates. In addition, on the same axis as the rotation shaft 421, a gear 423 is fixed to the clutch 42 so that the transmission of the rotation of the rotation shaft 421 can be switched by switching the clutch 42 on and off. When the clutch 42 is in the off state, the rotation of the rotation shaft 421 is not transmitted to the gear 423, and the gear 423 is stationary. Gear 423 can rotate freely relative to rotary shaft 421. When clutch 42 is in an on state, the rotation of rotary shaft 421 is transmitted to gear 423 via clutch 42, causing gear 423 to rotate.

[0044] The drive unit 4 also includes a pivotal support 44 provided at the front and a pivotal support 45 provided at the rear inside the main body 2. The pivotal supports 44, 45 pivotally support a timing belt 46 so that the timing belt 46 can rotate freely.

[0045] The support unit 44 rotatably supports a rotating shaft 441. A pulley 442, a rotor 443, and an encoder 444 are fixed to the rotating shaft 441. The pulley 442, the rotor 443, and the encoder 444 rotate together with the rotating shaft 441. The rotor 443 is a displacement member that is displaced (rotated) when the support body 21 (moving body 3) moves. The rotor 443 is configured to press against a brake shoe 61 (friction member 611) described below when a load is applied to the movement of the support body 21 (moving body 3). The support unit 44 is also provided with a detection sensor 445. As shown in FIGS. 3 and 6(a), the detection sensor 445 is disposed near the encoder 444 so as to detect the amount of rotation of the encoder 444.

[0046] The support portion 45 rotatably supports a rotating shaft 451. A pulley 452 and a gear 453 are fixed to the rotating shaft 451. Furthermore, a rotating shaft 421 is supported on the upper portion of the support portion 45. A timing belt 46 is stretched between the pulley 442 and the pulley 452. The gear 453 is in mesh with the gear 423. When the gear 423 rotates, the gear 453 rotates in the opposite direction to the gear 423, and the pulley 452 rotates in the same direction as the gear 453.

[0047] 6(a), the center position in the front-rear direction of the lower belt portion 461 of the timing belt 46, which is located at the bottom of the orbit, is fixed to the support body 21. As a result, the support body 21 (moving body 3) moves in the front-rear direction as the timing belt 46 (lower belt portion 461) moves.

[0048] When the support 21 (moving body 3) moves in the front-rear direction, the timing belt 46 runs, rotating the pulley 442. When the pulley 442 rotates, the rotating shaft 441 rotates integrally with the pulley 442, and the encoder 444 also rotates.

[0049] The drive unit 4 is configured to drive the motor 41 with 1070 pulses, for example, to move the support 21 (moving body 3) by 10 mm. At this time, the encoder 444 is configured to measure 14 pulses with the detection sensor 445. The control unit 8 can grasp the movement distance of the support 21 (moving body 3) by having the detection sensor 445 detect the amount of rotation of the encoder 444, which rotates as the timing belt 46 runs. In other words, the detection sensor 445 functions as a detector that detects that the moving body 3 has reached a target position set by initial setting, which will be described later.

[0050] (Mobile) As described above, the movable body 3 is attached to the side ends 21R, 21L of the support body 21. The movable body 3 includes mounting bases 31, 32. The mounting bases 31, 32 are used to place a part of the limb distal to the joint of the limb to be trained. For example, when training the elbow joint, at least one of the parts of the limb distal to the elbow joint, namely the forearm, wrist, and palm, is placed on the mounting bases 31, 32.

[0051] In this embodiment, a case where the palm and forearm are placed will be described. The placement bases 31, 32 include a first placement base 31 on which the palm and wrist are placed and a second placement base 32 on which the forearm is placed. The first placement base 31 has a standing wall portion 311. The standing wall portion 311 is erected facing the sides of the right wall 2R and the left wall 2L, respectively. The first placement base 31 has a bottom wall portion 312 that is perpendicular to the standing wall portion 311 and connected to the lower part of the standing wall portion 311. The standing wall portion 311 and the bottom wall portion 312 are provided with mounting holes 313 for detachably attaching a grip 33. The bottom wall portion 312 is fixed to the side ends 21R, 21L of the support body 21. The grip 33, which the user holds with their hand, is detachably attached to the standing wall portion 311 or the bottom wall portion 312 by screwing the grip 33 into the mounting hole 313. In this embodiment, the grip 33 is rod-shaped and attached to the upright wall portion 311 as shown in FIG. 1 . The shape of the grip 33 is not limited to this, and any shape that is easy for the user to grasp may be used. The second mounting base 32 has a holder 34 that holds the user's forearm. The holder 34 is fixed to the upper surface of the second mounting base 32. The holder 34 has a generally U-shaped cross section. The first mounting base 31 and the second mounting base 32 are adjacent to each other in the front-rear direction and are connected to each other at their adjacent ends. The second mounting base 32 is attached to the first mounting base 31 at its end adjacent to the first mounting base 31 via a swing shaft 35 shown in FIG. 3 . The second mounting base 32 is attached to the first mounting base 31 so as to be swingable outward or inward in the left-right direction around the swing shaft 35. As a result, when the angle of the user's forearm relative to the palm in the horizontal plane changes as the moving body 3 moves during training, the second mounting base 32 follows the movement of the forearm rather than the forearm remaining fixed in a straight line relative to the palm, allowing the user to train without feeling any discomfort or strangeness.

[0052] 5, the movable body 3 has a plurality of rolling parts 52 on its bottom surface that support the first mounting table 31 and the second mounting table 32 from below. The rolling parts 52 include at least one of a wheel part 521 and a ball part 522. In this embodiment, the wheel part 521 is provided on the bottom surface of the first mounting table 31, and the ball part 522 is provided on the bottom surface of the second mounting table 32.

[0053] The wheel unit 521 has a wheel 521A and a shaft 521B that supports the wheel 521A. The shaft 521B is fixed to the first table 31 at a predetermined height so that the wheel 521A supports the first table 31 in a rolling manner on the table surface of the training apparatus 1. The shaft 521B is fixed to the right side surface of the right-side first table 31 and the left side surface of the left-side first table 31 so that its axis extends in the left-right direction. Thus, the wheel 521A rotates about the shaft 521B and rolls in the front-to-back direction as the first table 31 moves in the front-to-back direction. The ball unit 522 has a ball 522A and a holding cover 522B that holds the ball 522A in a rolling manner. The retaining cover 522B is fixed to the underside of the second table 32 so that the balls 522A support the second table 32 in a rolling manner on the table surface of the training apparatus 1. Therefore, the balls 522A roll in either direction as the second table 32 moves forward and backward and swings left and right about the swing axis 35. The moving body 3 has the rolling part 52, so that when the user moves the moving body 3 during training, the moving body 3 can be moved smoothly forward and backward.

[0054] Furthermore, wheels 521A and ball 522A are preferably made of resin or metal to reduce the frictional force generated between them and the support surface of training apparatus 1. This allows the user to move moving object 3 more smoothly in the forward and backward directions when moving moving object 3 during training.

[0055] (Load applying section) The load application unit 6 is configured to apply a load to the movement of the moving object 3. As shown in FIG. 6 , the load application unit 6 includes a brake shoe 61 and a dial unit 62. The brake shoe 61 has a friction member 611 and a base member 612 that holds the friction member 611. The friction member 611 is configured by adhering a resin tape, for example, to the surface of an elastic member (e.g., rubber or sponge) to form a smooth surface. The brake shoe 61 is configured so that the friction member 611 is detachable from the base member 612. This allows the friction member 611 to be replaced with a new friction member 611 when it wears out, or to be replaced with a friction member 611 made of a material that generates strong or weak frictional force. The friction member 611 is preferably made of a material appropriate for the training situation so as to generate the desired frictional force.

[0056] The dial unit 62 is used to set the amount of load applied to the movement of the movable body 3. The dial unit 62 has a screw shaft 621 and a knob 622. As shown in FIG. 6(a), the lower part of the screw shaft 621 is inserted into a hole 620 (see FIG. 1) for the dial unit 62 formed in the upper wall 2U and is screwed into a nut 63 fixed to the underside of the inclined part of the upper wall 2U. The upper part of the screw shaft 621 protrudes upward from the upper wall 2U, and a knob 622 is fixed to the tip part. A brake shoe 61 is attached to the lower end of the screw shaft 621.

[0057] The lower portion of the brake shoe 61 is formed in a curved concave shape so as to fit along the circumferential surface of the rotor 443. In this embodiment, this is achieved by forming the lower portion of the base member 612 in a curved concave shape.

[0058] As shown in FIG. 6(a), when the knob 622 is rotated with the friction member 611 of the brake shoe 61 at a position away from the rotor 443, the screw shaft 621 advances downward, and the brake shoe 61 moves downward. The friction member 611 of the brake shoe 61 comes into contact with the rotor 443, thereby applying a predetermined amount of load to the movement of the moving body 3 during exercise. When the knob 622 is further rotated and the brake shoe 61 is pressed down, the pressing force of the friction member 611 against the rotor 443 increases. When the pressing force against the rotor 443 increases, the frictional force generated between the friction member 611 and the rotor 443 increases, and the resistance to the movement of the timing belt 46 increases. This allows the load application unit 6 to increase the load applied to the support body 21 (moving body 3) moving in the front-rear direction. Conversely, when the knob 622 is rotated in a direction in which the screw shaft 621 advances upward, the brake shoe 61 moves upward, and the pressing force of the friction member 611 against the rotor 443 is weakened. When the pressing force against the rotor 443 is weakened, the frictional force generated between the friction member 611 and the rotor 443 is reduced, and resistance to the movement of the timing belt 46 is reduced. This reduces the load that the load application unit 6 applies to the forward / backward movement of the support body 21 (moving body 3). Note that, as shown in FIG. 6(a), when the brake shoe 61 is moved upward until the frictional member 611 is separated from the rotor 443, the frictional force generated between the frictional member 611 and the rotor 443 becomes zero. This makes it possible to reduce the amount of load that the load application unit 6 applies to the forward / backward movement of the support body 21 (moving body 3) to zero, allowing training with a light load.

[0059] (Information Department) The training device 1 includes a guide unit 5 that guides the moving body 3 to move in the front-to-rear direction. The guide unit 5 includes a slide rail 51. The slide rail 51 is installed below the timing belt inside the main body 2 and extends in the front-to-rear direction. The slide rail 51 includes a rail 511 and a slider 512. The slider 512 is fixed to a predetermined position on the underside of the support body 21. The slider 512 moves along the rail 511. As shown in FIG. 3 , the rails 511 are arranged in pairs on the left and right. When the moving body 3 moves, the support body 21 moves, and the timing belt 64 runs, the moving body 3 is guided by the slide rail 51. The slide rail 51 supports the support body 21 so that it cannot move in the left-to-right or up-down directions. The slide rail 51 also supports the support body 21 so that it can move in the front-to-rear direction. The moving body 3 is attached to the support body 21. Therefore, when a user moves the moving body 3 (platforms 31, 32) during training, even if a force in the front-to-back direction and a force in the left-to-right or up-to-down direction is applied to the moving body 3, the moving body 3 can move smoothly in the front-to-back direction along the slide rails 51. In addition, the rolling parts 52 act as guide parts 5. The rolling parts 52 support the platforms 31, 32 so that they cannot move downward. In addition, the rolling parts 52 support the platforms 31, 32 so that they can move in the front-to-back direction. Therefore, when a user moves the moving body 3 (platforms 31, 32) during training, even if a force in the front-to-back direction and a force in the downward direction are applied to the platforms 31, 32, the moving body 3 can move smoothly in the front-to-back direction. Since the training device 1 of the present invention is equipped with a guide unit 5, even if the direction of the force applied by the user to the moving body 3 during training varies and a force in the forward / backward direction, a force in the left / right direction, or a force in the up / down direction is applied, the moving body 3 can be moved smoothly in the direction in which it should be moved (forward / backward), allowing for appropriate training.

[0060] (Control unit) The control unit 8 is realized by a CPU, a ROM, a RAM, etc. As shown in FIG. 8, the control unit 8 is connected to a motor 41, a clutch 42, and an operation unit 11. The control unit 8 controls the driving of the motor 41. The control unit 8 controls the clutch 42 to switch between an on state and an off state. The control unit 8 controls the driving unit 4 to move the moving body 3 forward (forward) or backward (backward), thereby moving the limbs of the user placed on the mounting bases 31, 32 in the forward and backward directions and assisting or encouraging exercise that flexes or extends the joints.

[0061] (Operation unit) The operation unit 11 has a display unit 111 and buttons 112 to 115. The display unit 111 is a liquid crystal screen that displays menu contents, training modes, training settings, the number of training runs, and various other information. The button 112 is a "menu display / decision button" that displays the menu and confirms the training mode and various selections. The buttons 113 and 114 are "switch / change buttons" that switch the training mode, switch the menu contents, change the number of training runs, and change the target distance for moving the moving object 3 during training. The button 115 is a "start / stop button" that starts and stops training.

[0062] One training session is defined as one round trip of the moving object 3 between the initial position and the target position. The target distance is the distance between the initial position and the target position when the moving object 3 is moved from the initial position to the target position during training. In other words, the target position is a position spaced backward from the initial position by the target distance.

[0063] (Activation) The operation of the training device 1 having the above configuration will now be described.

[0064] (1) Initial settings Before performing a training movement, the training device 1 is initialized. The user (or an operator other than the user) turns on the power switch 13 to power on the training device 1. He presses button 112 to display a menu on the display unit 111. He checks the menu contents displayed on the display unit 111 and presses button 113 or 114 the required number of times so that a menu screen for selecting a training mode is displayed. When the menu screen for selecting a training mode is displayed, he presses button 112. Then, he presses button 113 or 114 the required number of times so that the desired training mode is displayed, thereby switching the training mode. When the desired training mode is displayed, he presses button 112 to determine the training mode. The training mode is determined by selecting from "passive movement," "loaded movement," "assisted movement," and "semi-passive movement."

[0065] Similarly, button 112 and buttons 113 and 114 are pressed to display a menu screen for setting the number of training sessions. Then, buttons 113 and 114 are pressed the required number of times, and when the desired number of sessions is displayed, button 112 is pressed to determine the number of training sessions. Similarly, buttons 112 and buttons 113 and 114 are pressed to display a menu screen for setting the target distance. Then, buttons 113 and 114 are pressed the required number of times, and when the desired target distance is displayed, button 112 is pressed to determine the target distance. Once the necessary items of the training mode, number of training sessions, and target distance have been set, the initial setting is complete. In this embodiment, the following description will be given assuming that the number of training sessions is set to, for example, 5, and the target distance is set to, for example, 200 mm.

[0066] (2) Training movements After the initial setup is complete, the user places the limbs on the platforms 31 and 32. Specifically, for example, the user grasps the grip 33 with their hand (palm and fingers) and places their forearm on the second platform 32. Then, training begins by pressing the button 115. When training begins, the moving body 3 is moved to its initial position. When the moving body 3 is located at its initial position, which is set to the frontmost position, the second platform 32 protrudes forward from the front wall 2A of the main body 2. Therefore, when training begins, the moving body 3 (platforms 31 and 32) is first moved backward. The control unit 8 also controls the drive unit 4 to assist or encourage the moving body 3, which is located at a terminal position set to a midpoint or rearmost position in the forward / backward direction, to move forward (forward) or to move backward (rearward) from the initial position set forward.

[0067] The training operations in each training mode will be described below.

[0068] (Passive movement training) In "passive movement," for example, when a user has difficulty moving a limb by his / her own strength, the moving body 3 (mounting bases 31, 32) is moved forward or backward by the force of the motor 41 of the training device 1. This is a training mode in which the limb placed on the mounting bases 31, 32 is moved and the joint is flexed or extended.

[0069] When button 115 is pressed, control unit 8 starts the forward movement. Control unit 8 controls drive unit 4 to move movable body 3 backward. Drive unit 4 is configured so that driving motor 41 1,070 pulses moves movable body 3 10 mm. Therefore, control unit 8 drives motor 41 21,400 pulses, corresponding to a target distance of 200 mm. Clutch 42 is turned on, and the driving force of motor 41 is transmitted to pulley 452 via pulley 411, timing belt 43, pulley 422, rotating shaft 421, clutch 42, gears 423 and 453, and rotating shaft 451, causing timing belt 46 to run. As timing belt 46 runs at a predetermined speed, support 21 moves, and movable body 3 moves backward while being guided by guide unit 5. Furthermore, encoder 444 rotates as timing belt 46 runs. Then, when the detection sensor 445 detects that the encoder 444 has rotated by 280 pulses, which corresponds to a target distance of 200 mm, the control unit 8 determines that the moving body 3 has reached the target position. When it is determined that the moving body 3 has reached the target position, the forward movement ends.

[0070] When the moving object 3 reaches the target position and the outward movement is completed, the control unit 8 starts the return movement. At this time, the user can recognize that the outward movement is completed. The control unit 8 drives the motor 41 to rotate in the reverse direction. The moving object 3 moves the same distance on the return movement as on the outward movement. The motor 41 is driven to rotate in the reverse direction by 21,400 pulses. Then, when the detection unit 23A detects the front end edge 212A of the detection piece 211A, the control unit 8 determines that the moving object 3 has moved to the initial position. When it determines that the moving object 3 has reached the initial position (the target position on the return movement), the return movement is completed. At this time, the control unit 8 counts up the number of times the passive movement training has been performed, and the number of times the training has been performed. The control unit 8 also displays the number of times the training has been performed on the display unit 111. The user can check the number of times the training has been performed on the display unit 111.

[0071] The control unit 8 controls the drive unit 4 to repeat the passive movement training until the number of times the training has been performed reaches the number of trainings set in the initial setting (five times in this embodiment). When the number of times the training has been performed reaches the set number of trainings, the control unit 8 ends the passive movement training. Then, the control unit 8 displays on the display unit 111 that the training has been completed.

[0072] (load movement training) The "load operation" is a training mode in which the limbs placed on the mounting bases 31, 32 are moved by their own force in a push-out direction (backward in this embodiment) or pull-back direction (forward in this embodiment) to move the moving body 3 (mounting bases 31, 32) without using the power of the motor 41 of the training device 1. This is a training mode in which the joints are flexed or extended. In addition, in the "load operation," the dial unit 62 (load amount setting unit) is operated to adjust the load amount applied by the load application unit 6, and a predetermined amount of load is applied to the movement of the moving body 3, thereby applying a predetermined amount of load to the joints and muscles of the limbs for training.

[0073] When the button 115 is pressed, the control unit 8 displays, for example, a message on the display unit 111 prompting the user to start an exercise of pushing the moving object 3 (platforms 31, 32) backward. Then, the user starts the forward movement. The user pushes out their limbs (hands and forearms) with their own strength, moving the moving object 3 backward. At this time, if the load application unit 6 is adjusted to apply a predetermined amount of load, frictional resistance occurs against the rotation of the rotor 443 by the friction member 611. Therefore, the user moves the moving object 3 while receiving the predetermined amount of load from the load application unit 6. Note that the friction member 611 may be separated from the rotor 443, and the amount of load applied by the load application unit 6 may be set to zero.

[0074] When the movable body 3 is moved, the timing belt 46 runs. At this time, the clutch 42 is in an OFF state, so that the rotation of the pulley 452, the rotary shaft 451, and the gears 453 and 423 caused by the running of the timing belt 46 is not transmitted to the motor 41. The movement of the movable body 3 causes the encoder 444 to rotate. The detection sensor 445 detects the amount of rotation of the encoder 444. When the detection sensor 445 detects that the encoder 444 has rotated 280 pulses, which corresponds to the target distance of 200 mm, the control unit 8 determines that the movable body 3 has reached the target position. When it is determined that the movable body 3 has reached the target position, the forward movement ends.

[0075] When the moving object 3 reaches the target position, the control unit 8 displays a message related to the training on the display unit 111. The control unit 8 displays, for example, a message indicating that the moving object 3 has reached the target position, or a message prompting the user to start an exercise to pull the moving object 3 (mounting bases 31, 32) back toward the initial position on the display unit 111. At this time, the user can recognize that the forward movement is complete. Then, the user starts the return movement. The user performs training by pulling the limbs (hands and forearms) back toward their own body with their own strength, moving the moving object 3 forward. At this time, the user moves the moving object 3 while receiving a predetermined amount of load from the load application unit 6.

[0076] When the detection unit 23A detects the front end edge 212A of the detection piece 211A, the control unit 8 determines that the moving body 3 has been moved to the initial position. When it is determined that the moving body 3 has reached the initial position (the target position on the return journey), the return journey operation ends. At this time, the control unit 8 counts up the number of times the training has been performed, assuming that the load motion training has been performed once. The control unit 8 also displays the number of times the training has been performed on the display unit 111. The user can check the number of times the training has been performed on the display unit 111.

[0077] The load motion training is repeated until the number of times the training is performed reaches the number of times of training set in the initial setting (five times in this embodiment). When the number of times the training is performed reaches the number of times of training set in the initial setting, the control unit 8 ends the load motion training. Then, the control unit 8 displays on the display unit 111 that the training has been completed.

[0078] (Assisted movement training) In the "assisted operation," for example, when the user can move the limb slightly by his / her own strength, the limb placed on the mounting bases 31, 32 is moved by his / her own strength in a direction pushing out (backward in this embodiment) or pulling back (forward in this embodiment) the limb by a predetermined distance, thereby moving the moving body 3 (mounting bases 31, 32). When it is detected that the moving body 3 has been moved the predetermined distance, the control unit 8 then starts driving the drive unit 4 and controls the moving body 3 (mounting bases 31, 32) by the force of the motor 41 of the training apparatus 1 to move the moving body 3 (mounting bases 31, 32) in the same direction as the moving body 3 (mounting bases 31, 32) was moved by his / her own strength. This is a training mode in which the limb placed on the mounting bases 31, 32 starts moving by his / her own strength, and performs the motion of bending or extending the joint while the motion is assisted and prompted by the drive of the motor 41.

[0079] When the button 115 is pressed, the control unit 8 displays on the display unit 111, for example, a message prompting the user to start an exercise of pushing the moving body 3 (the platforms 31, 32) backward. Then, the forward movement begins. The user pushes their limbs (hands and forearms) with their own strength to move the moving body 3 backward. When the moving body 3 is moved backward, the support body 21 moves along with the moving body 3, and the displacement detection unit 27 and the cylindrical member 25 move backward together with the support body 21. The displacement plate 24 is displaced forward relative to the support body 21 until the cylindrical member 25 contacts the rear edge 241B of the elongated hole 241. When the support body 21 moves backward a predetermined distance, the displacement detection unit 27 enters a non-detection state in which it is not detecting the protruding piece 242. This causes the control unit 8 to determine that the user has moved the moving body 3 backward a predetermined distance and drive the drive unit 4 to move the moving body 3 backward.

[0080] During the forward movement, the control unit 8 drives the motor 41 by a number of pulses corresponding to a predetermined distance shorter than the target distance so as to move the moving object 3 a target distance. For example, the control unit 8 drives the motor 41 by 1,070 pulses, corresponding to 10 mm. If the displacement detection unit 27 is in a detection state after driving the motor 41 by 1,070 pulses, the control unit 8 stops the motor 41. If the displacement detection unit 27 is in a non-detection state, the control unit 8 drives the motor 41 by 1,070 pulses again. Thereafter, the control unit 8 controls the motor 41 to be repeatedly driven in accordance with the detection result of the displacement detection unit 27 until the moving object 3 reaches the target position. When the detection sensor 445 detects that the encoder 444 has rotated by 280 pulses, corresponding to a target distance of 200 mm, the control unit 8 determines that the moving object 3 has reached the target position. Once it is determined that the moving object 3 has reached the target position, the forward movement ends.

[0081] When the moving object 3 reaches the target position, the control unit 8 stops the motor 41 and displays a message related to the training on the display unit 111. The control unit 8 displays, for example, a message on the display unit 111 indicating that the moving object 3 has reached the target position, or a message urging the user to start an exercise to pull the moving object 3 (platforms 31, 32) back toward the initial position. At this time, the user can recognize that the outward movement has ended. Then, the return movement begins.

[0082] The user pulls back their limbs (hands and forearms) with their own strength, moving the moving body 3 forward. When the moving body 3 is moved forward, the support 21 moves along with the moving body 3, and the displacement detection unit 27 and cylindrical member 25 move forward together with the support 21. The displacement plate 24 displaces rearward relative to the support 21 until the cylindrical member 25 contacts the front edge 241A of the elongated hole 241. When the moving body 21 moves forward a predetermined distance, the displacement detection unit 27 enters a detection state in which it detects the protruding piece 242. This causes the control unit 8 to determine that the user has moved the moving body 3 forward a predetermined distance and drive the drive unit 4 to move the moving body 3 forward. During the return movement, the control unit 8 drives the motor 41 by a number of pulses corresponding to the predetermined distance. For example, the control unit 8 drives the motor 41 by 1,070 pulses, which corresponds to 10 mm. If the displacement detection unit 27 is in the non-detection state when the motor 41 has been driven by 1070 pulses, the control unit 8 stops the motor 41. If the displacement detection unit 27 is in the detection state, the control unit 8 drives the motor 41 again by 1070 pulses. Thereafter, the motor 41 is controlled so as to be repeatedly driven in accordance with the detection result of the displacement detection unit 27 until the moving body 3 reaches the initial position.

[0083] When the detection unit 23A detects the front end edge 212A of the detection piece 211A, the control unit 8 determines that the moving body 3 has moved to the initial position. When it is determined that the moving body 3 has reached the initial position (the target position on the return journey), the return journey operation ends. At this time, the control unit 8 counts up the number of times the training has been performed, assuming that the assist motion training has been performed once. The control unit 8 also displays the number of times the training has been performed on the display unit 111. The user can check the number of times the training has been performed on the display unit 111.

[0084] The control unit 8 controls the drive unit 4 to repeat the assisting motion training until the number of times the training has been performed reaches the number of trainings set in the initial setting (five times in this embodiment). When the number of times the training has been performed reaches the set number of trainings, the control unit 8 ends the assisting motion training. Then, the control unit 8 displays on the display unit 111 that the training has been completed.

[0085] (Semi-passive movement training) In the "semi-passive movement," when the limb placed on the bases 31, 32 is moved in a pushing direction (backward in this embodiment), the user moves the movable body 3 (bases 31, 32) with their own force, and when the limb is moved in a pulling direction (forward in this embodiment), the movable body 3 (bases 31, 32) is moved by the force of the motor 41 of the training device 1. This is a training mode in which the limb placed on the bases 31, 32 is moved and the joint is flexed or extended. In the "semi-passive movement," the load applied by the load application unit 6 is adjusted to apply a predetermined amount of load to the backward movement of the movable body 3, thereby applying a predetermined amount of load to the joints and muscles of the limb for training.

[0086] When the button 115 is pressed, the control unit 8 displays, for example, a message on the display unit 111 prompting the user to start an exercise of pushing the moving object 3 (platforms 31, 32) backward. Then, the user starts the forward movement. The forward movement is similar to the "load movement." The user pushes out with their own strength using their limbs (hands and forearms) to move the moving object 3 backward. At this time, if the load application unit 6 is adjusted to apply a predetermined amount of load, the user moves the moving object 3 while receiving the predetermined amount of load from the load application unit 6.

[0087] The moving body 3 is moved, and when the detection sensor 445 detects that the encoder 444 has rotated 280 pulses, which corresponds to the target distance of 200 mm, the control unit 8 determines that the moving body 3 has reached the target position. When it is determined that the moving body 3 has reached the target position, the forward movement ends.

[0088] When the moving object 3 reaches the target position, the control unit 8 turns on the clutch 42. That is, based on the detection of the detection sensor 445, the control unit 8 controls the drive unit 4 to end the load operation, which applies a load to the moving object 3 to cause it to move. Then, the control unit 8 starts the return movement. At this time, the user can recognize that the forward movement has ended. The drive unit 4 for the return movement is driven in the same way as in the "passive movement." The control unit 8 drives the motor 41 so that the moving object 3 moves forward. Then, when the detection unit 23A detects the front end edge 212A of the detection piece 211A, the control unit 8 determines that the moving object 3 has moved to the initial position. When it determines that the moving object 3 has reached the initial position (the target position for the return movement), the return movement ends. At this time, the control unit 8 counts up the number of times the semi-passive movement training has been performed, assuming that one training session has been performed. The control unit 8 also displays the number of times the training has been performed on the display unit 111. The user can check the number of times the training has been performed on the display unit 111.

[0089] The control unit 8 controls the drive unit 4 to repeat the semi-passive movement training until the number of times the training has been performed reaches the number of trainings set in the initial setting (five times in this embodiment). When the number of times the training has been performed reaches the set number of trainings, the control unit 8 ends the semi-passive movement training. Then, the control unit 8 displays on the display unit 111 that the training has been completed.

[0090] In this embodiment, as described above, the target position in the return path is the position (initial position) where the front end edge 212A of the detection piece 211A is detected by the detection section 23A.

[0091] As an example, the target distance is set to 200 mm, but setting the target distance may be omitted. In this case, the position (terminal position) at which the rear end edge 212B of the detection piece 211B is detected by the detection unit 23B becomes the target position when moving the moving body 3 on the outward path. In this embodiment, the detection unit 23 and the detection sensor 445 function as a detection unit that detects the target position when moving the moving body 3.

[0092] The training device 1 according to the first embodiment described above is a training device for training the joints of a user's limbs. The training device 1 includes a moving body 3 having platforms 31 and 32 on which a limb distal to the joint is placed, a main body 2 supporting the moving body 3 so that it can move forward and backward, a drive unit 4 for moving the moving body 3 relative to the main body 2, and a control unit 8 for controlling the drive unit 4 to move the moving body 3 forward or backward. Therefore, the drive unit 4 can move the moving body 3, thereby assisting the user in training to move the moving body 3. When it is difficult for the user to move the moving body 3 forward or backward using only their own strength, the drive unit 4 can assist the user in moving the moving body 3, and the user can train to flex and extend their joints as the moving body 3 moves. Moving the moving body 3 using the drive unit 4 allows the user to feel a sense of accomplishment. The user can train independently, without the need for a therapist to constantly accompany the training. The control unit 8 controls the drive unit 4, allowing for appropriate training.

[0093] In addition, since the moving body 3 is provided with a guide section 5 (slide rail 51, rolling section 52) that guides the moving body 3 to move in the forward and backward directions, even if the direction of the force applied by the user to the moving body 3 varies and the force is applied not only in the forward and backward directions but also in the left and right or up and down directions, the moving body 3 can be moved smoothly in the forward and backward directions, which is the direction in which it should move, and the required movements can be trained stably and appropriately.

[0094] Furthermore, since the load applying unit 6 is provided to apply a predetermined amount of load to the movement of the moving body 3 when the moving body 3 is moved forward or backward, the user can train appropriately by receiving the predetermined amount of load when moving the moving body 3 forward or backward. Furthermore, by training with the predetermined amount of load, the user can maintain, recover, or strengthen the muscle strength of the joints and limbs.

[0095] Furthermore, the load applying unit 6 is provided in the main body 2 and is configured to include a friction member 611 that comes into contact with a displacement member (rotor 443) that is displaced by the movement of the moving body 3, so that the load can be applied with a simple configuration. Also, the device can be made inexpensively.

[0096] Furthermore, since the device is provided with a load setting unit (dial unit 62) that sets the amount of load applied by the load application unit 6, the load can be set according to the user's symptoms, recovery state, physical condition, etc. Therefore, it is possible to set a load suitable for various users, enabling efficient and appropriate training.

[0097] The device also includes a detection unit (detection unit 23, detection sensor 445) that detects when the moving object 3 has reached a predetermined target position provided on the main body 2. The control unit 8 controls the drive unit 4 to terminate the load operation that applies a load to cause exercise based on the detection by the detection unit (detection unit 23, detection sensor 445), allowing the user to recognize that the predetermined operation has been completed. The user can feel a sense of accomplishment when they are able to move the moving object 3 to the target position. This can also motivate the user during training.

[0098] Furthermore, the target position can be changed by operating the operating unit 11 to set the target distance, so that the moving distance of the moving body 3 can be set to suit the user, allowing for efficient and appropriate training.

[0099] Furthermore, since the moving body 3 is provided on the side of the main body 2, the height of the training device 1 can be lowered. Also, the height at which the limbs are placed can be lowered. This eliminates the need for a dedicated platform with a lifting mechanism that allows the height of the placement surface to be adjusted, and allows training to be performed by placing the training device 1 on a commonly used desk or table. Also, the user can train in an appropriate posture.

[0100] [Variation 1] A first modified example of the training apparatus 1 will be described. FIG. 9 is a perspective view of the training apparatus 1A in this modified example with the upper cover 10a of the main body 2 removed. FIG. 10 is a plan view of the training apparatus 1A in this modified example with the upper cover 10a of the main body 2 removed. FIG. 11 is a block diagram of the training apparatus 1A in this modified example. The load applying unit 6A of the training apparatus 1A in this modified example has a powder brake 64 instead of the brake shoe 61. The powder brake 64 is fixed to the left wall 2L. The left end of a brake shaft 65 is inserted into the powder brake 64. The powder brake 64 has a friction member therein that generates a friction force against the rotation of the brake shaft 65. The friction member of the powder brake 64 restricts the rotation of the brake shaft 65. The friction force of the powder brake 64 is controlled by the control unit 8A. A pulley 651 is fixed to the right end of the brake shaft 65. Pulley 651 rotates together with brake shaft 65. Furthermore, a pulley 446 is fixed to the rotary shaft 441 of the shaft support portion 44A of Modification 1, instead of rotor 443. Pulley 446 rotates as the rotary shaft 441 rotates. A timing belt 66 is stretched between pulley 651 and pulley 446.

[0101] In this modified example, the operation unit 11 functions as a load amount setting unit. The operation unit 11 is operated to set the load amount to be applied to the movement of the moving body 3. A powder brake 64 is connected to the control unit 8A. Once the load amount is set, the control unit 8A controls the powder brake 64 so as to apply a predetermined load amount to the movement of the moving body 3.

[0102] When the moving body 3 moves, the support body 21 moves and the timing belt 46 runs. As the timing belt 46 runs, the rotating shaft 441 rotates, causing the pulley 446 to rotate. When the pulley 446 rotates, the timing belt 66 rotates the pulley 651, causing the brake shaft 65 to rotate. In this modified example, the brake shaft 65 functions as a displacement member that is displaced by the movement of the moving body 2. At this time, the powder brake 64 generates a frictional force against the rotation of the brake shaft 65, applying a load. In other words, the load applying unit 6A of this modified example is configured to apply a load against the rotation of the brake shaft 65, thereby applying a predetermined amount of load to the movement of the moving body 2. The other configurations are the same as those of the training device 1 in the above-described embodiment.

[0103] The training device 1A of this modification includes a load application unit 6A having a powder brake 64. This allows the user to train appropriately by receiving a predetermined amount of load when moving the moving object 3 forward or backward. Furthermore, by receiving a predetermined amount of load, the user can maintain, recover, or strengthen the muscle strength of the joints and limbs. Furthermore, since the device is configured with a friction member (powder brake 64) that contacts a displacement member (brake shaft 65) that is displaced as the moving object 3 moves, the device can apply a load with a simple configuration. Furthermore, since the device is equipped with a load amount setting unit (operation unit 11) that sets the amount of load applied by the load application unit 6A, the load amount can be set according to the user's symptoms, recovery state, physical condition, and the like. Therefore, the load amount can be set appropriately for various users, allowing for appropriate training. Since the load amount is set by operating the operation unit 11, the load amount can be accurately set to suit the user. Furthermore, the load amount can be adjusted more easily than by replacing the friction member.

[0104] [Variation 2] A second modification of the training apparatus 1 will be described. The moving body 3 in this modification is configured to be detachable from the main body 2. Specifically, for example, the bottom wall 312 of the first table 31 is attached to the side ends 21R, 21L of the support 21 by thumbscrews (not shown). The thumbscrews can be removed by turning them by hand without using a tool such as a screwdriver. Therefore, the first table 31 can be easily removed from the main body 2 by manually turning the thumbscrews in a loosening direction and removing them from the side ends 21R, 21L. The second table 32 is attached to the first table 31 via the swing shaft 35, and therefore can be removed from the side ends 21R, 21L together with the first table 31. Furthermore, the first table 31 can be easily attached to the cartwheels 21R, 21L by manually turning the thumbscrews in a tightening direction and attaching them to the side ends 21R, 21L. Therefore, the movable body 3 can be attached to and detached from the main body 2 by attaching and detaching the thumbscrews to the side ends 21R and 21L.

[0105] In the training device 1 of this modification, the movable bodies are detachably attached to the main body, allowing for changes in the installation layout of the device. When training the joints of both left and right limbs, the movable bodies 3 are attached to both sides of the main body 2 and training is performed. Furthermore, when training the joints of one of the left and right limbs, only one of the movable bodies 3 may be attached to the main body 2 and training is performed. For example, the left movable body 3 of the main body 2 may be removed, and only the right movable body 3 may be attached to the main body 2. The user places either the left or right limb on the mounting base 31, 32 of the right movable body 3 and performs training. In this case, even in a small space such as a hospital room, training can be performed by installing the training device 1 so that the left wall 2L of the main body 2 is in contact with the wall of the room. Alternatively, for example, the right movable body 3 of the main body 2 may be removed, and only the left movable body 3 may be attached to the main body 2. The user places either the left or right limb on the support bases 31, 32 of the left-side moving body 3 and performs training. In this case, training can be performed by installing the training device 1 so that the right wall 2R of the main body 2 is in contact with the wall of a room, such as a hospital room. The left and right moving bodies 3 may be swapped and attached to the main body 2, such as by attaching the right-side moving body 3 to the left side of the main body 2 or the left-side moving body 3 to the right side of the main body 2. In this case, the second support base 32 is located behind the first support base 31. Therefore, the user can sit behind the training device 1, for example, and place their limbs on the support bases 31, 32 while facing forward to perform training. In this case, a therapist sitting across from the user across the training device 1 can easily operate the operation unit 11. Furthermore, the contents of the display unit 111 can be easily confirmed.

[0106] [Other variations] (1) The training apparatus 1 of this modification includes a load application unit 6B that can electrically adjust the load amount. FIG. 12 is a block diagram of the training apparatus 1 of this modification. In the load application unit 6 of the first embodiment, the load amount was adjusted by manually operating the dial unit 62. However, the load application unit 6B of this modification is configured to be electrically adjustable. Specifically, for example, the load application unit 6B has an adjustment motor 67, indicated by a dashed line, connected to the upper part of the screw shaft 621 shown in FIG. 4. The operation unit 11 functions as a load amount setting unit. The adjustment motor 67 is connected to the control unit 8B. When the load amount is set by the operation unit 11, the control unit 8B controls the drive of the adjustment motor 67 so as to apply a predetermined load amount to the movement of the moving object 3. In this modification, the load application unit 6B is automatically adjusted to apply the set load amount simply by operating the operation unit 11, allowing for easy and appropriate adjustment of the load amount. Displaying the load amount setting using, for example, a two-digit number allows for fine adjustment of the load amount.

[0107] (2) The training apparatus 1 of this modification includes a load applying unit 6C that uses the motor 41 of the drive unit 4 to apply load, instead of the load applying units 6, 6A, and 6B described above. FIG. 13 is a block diagram of the training apparatus 1 of this modification. While the load applying units 6, 6A, and 6B of the above embodiment are configured to apply load to the moving object 3 using friction members (friction members 611 or powder brakes 64), the load applying unit 6C of this modification is configured to apply load by controlling the motor 41. Furthermore, the training apparatus 1 includes a measuring device 71 (e.g., a load cell) that measures the amount of force applied by the user to the moving object 3 to move the moving object 3 forward or backward. The operation unit 11 functions as a load amount setting unit. If the amount of force measured by the measuring device 71 when the user trains with the training apparatus 1 is less than the load amount preset by the operation unit 11, the control unit 8C controls the drive unit 4 to stop the motor 41. Conversely, if the amount of force measured by the measuring device 71 is equal to or greater than the set load, the control unit 8 drives the motor 41 and controls the drive unit 4C to move the moving object 3 in the direction in which the user applies force during training. In this modification, the load application unit 6C is configured so that the control unit 8C applies a load by controlling the drive unit 4C (motor 41). This allows the drive unit 4C, which is used in passive, assisted, and semi-passive movement training, to be used for applying the load. This reduces the number of parts, allows for inexpensive manufacturing, and enables the device to be lightweight. Furthermore, compared to configurations that apply load using friction members, this configuration does not include any components that wear or consume. This eliminates the need for friction member replacement, simplifies maintenance, and allows for a stable application of a predetermined load without concern for durability. Furthermore, the set load can be accurately applied.

[0108] (3) As yet another modification, when the training apparatus 1 includes, as a load application unit, a load application unit 6A, a load application unit 6B, or a load application unit 6C whose load amount can be controlled by the control unit 8D, the setting value of the load amount setting unit may be automatically changed. If the first load amount set by the load amount setting unit (operation unit 11) does not cause the moving object 3 to move by more than a predetermined value (predetermined distance), the control unit 8 may control the load amount setting unit to change the setting value of the load amount from the first load amount to a second load amount smaller than the first load amount. Specifically, first, the user performs training (load movement training or semi-passive movement training) to move the moving object 3 at the first load amount (e.g., 2 kg) set by the load amount setting unit (operation unit 11). The distance moved by the user of the moving object 3 is determined by detecting the rotation amount of the encoder 444 with the detection sensor 445. There may be cases where the distance the user moves the moving object 3 is less than a predetermined value (e.g., 50 mm) previously set by the setting unit 11. When the moving object 3 cannot be moved by more than the predetermined distance, the control unit 8D controls the load setting unit to change the setting value. The control unit 8 changes the setting value of the load from a first load to a second load (e.g., 1 kg) that is smaller than the first load. The control unit 8 then controls the load applying unit (6A, 6B, or 6C) to apply a load to the moving object 3 at the changed second load. In this modification, even if it is difficult to move the moving object 3 with the load initially set before starting training, the control unit 8D changes the load to a smaller value. This allows the user to continue training appropriately in accordance with the user's training situation. This also prevents the user from giving up training. If the detection result of the encoder 444 indicates that the load for the user's training is too small, the control unit 8D may control the initially set load to a larger value. This helps maintain the motivation of the user and allows for appropriate training.

[0109] (4) In the above embodiment, the load applying units 6, 6B are configured to apply a load to the movement of the moving body 3 by bringing the friction member 611 into contact with the displacement member (rotor 443), but they may also be configured to apply a load by bringing the friction member into contact with the moving body 3. In this modification, the friction member is brought into contact with the moving body 3, so that a load can be applied with a simple configuration.

[0110] (5) The moving speed of the moving object 3 in the forward and backward directions may be set by operating the operation unit 11. In this case, once the moving speed of the moving object 3 is set, the control unit 8 controls the driving of the motor 41 so that the moving object 3 moves at the set speed. In this modification, the moving object 3 can be moved at a speed suitable for the user, allowing for appropriate training.

[0111] (6) In the above embodiment, the number of training runs was counted by performing an outward movement and a return movement in each training mode, counting the number of times the training was performed. However, it is also possible to count the number of times each of the outward movement and the return movement was performed. For example, if a round trip movement was performed once, the number of times the outward movement training was performed is counted as one, and the number of times the return movement training was performed is counted as one. In this modification, the user can check the number of times the outward movement training was performed and the number of times the return movement training was performed.

[0112] [Second embodiment] The second embodiment of the present invention will be described, focusing on the differences from the first embodiment. Components similar to those in the first embodiment will be described with the same reference numerals. Compared to the first embodiment, the training device 1 of this embodiment does not include the drive unit 4, and does not include the motor 41, pulley 411, clutch 42, rotating shaft 421, pulley 422, gear 423, timing belt 43, or gear 453 shown in FIG. 2.

[0113] As in the first embodiment, the main body 2 has a slide rail 51 that acts as the guide 5. The movable body 3, which is equipped with mounting tables 31 and 32, has a rolling portion 52 that acts as the guide 5. The movable body 3 is supported on the slide rail 51 via a support 21. The movable body 3 is supported so as to be movable in the front-rear direction relative to the main body 2. In addition, a pivot support 44 and a pivot support 45 are provided inside the main body 2. The pivot support 44 pivotally supports a rotating shaft 441, and a pulley 442, a rotor 443, and an encoder 444 are fixed to the rotating shaft 441. In addition, a detection sensor 445 is provided on the pivot support 44.

[0114] The shaft support portion 45 supports a rotary shaft 451, and a pulley 452 is fixed to the rotary shaft 451. A timing belt 46 is stretched between the pulley 442 and the pulley 452.

[0115] A portion of the lower belt portion 461 of the timing belt 46, which is located at the lower side of the orbit, is fixed to the support body 21. When the support body 21 (moving body 3) moves in the front-rear direction, the timing belt 46 runs and the pulley 442 rotates. When the pulley 442 rotates, the rotating shaft 441 rotates integrally with the pulley 442, and the encoder 444 also rotates.

[0116] The detection sensor 445 detects the amount of rotation of the encoder 444, thereby detecting the distance traveled by the moving object 3. The training device 1 of this embodiment includes any one of the load applying units 6, 6A, and 6B described above. It also includes a load setting unit (dial unit 62 or operation unit 11).

[0117] In the training device 1 of this embodiment, only the "load operation" training mode can be performed. The training operations in the load operation training are the same as those in the above-described embodiment 1. The user performs training to flex or extend the joints by moving the moving body 3 with their own power while receiving a predetermined amount of load set in the load amount setting unit from the load application unit (any of the load application units 6, 6A, and 6B).

[0118] The training device 1 according to the second embodiment described above is a training device for training the joints of a user's limbs. It includes a moving body 3 having platforms 31 and 32 on which a limb distal to the joint is placed, a main body 2 supporting the moving body 3 so that it can move forward and backward, a load applying unit (one of load applying units 6, 6A, and 6B) that applies a predetermined amount of load to the moving body 3 when the moving body 2 moves forward or backward, and a load setting unit that sets the amount of load applied by the load applying unit. Therefore, the load can be set according to the user's symptoms, recovery state, physical condition, and the like. Therefore, the load can be set to an amount appropriate for various users, allowing for appropriate training. Furthermore, compared with a configuration including a drive unit 4, the configuration can be simplified, resulting in a less expensive device. Furthermore, since the training device includes a guide unit 5 (slide rail 51, rolling unit 52) ​​that guides the moving body 3 to move forward and backward, even if the direction of the force applied by the user to the moving body 3 varies, the moving body 3 can be smoothly moved forward and backward, which is the direction in which it should move, allowing for appropriate training.

[0119] The present invention can be applied not only to training devices for training elbow joints and shoulder joints by placing upper limbs on a mounting base as in the above-described embodiments, but also to training devices for training knee joints and ankle joints by placing lower limbs on a mounting base. The wrist joint may be trained by not providing a second mounting base. The shoulder joint may be trained by sitting facing the right or left side of the main body and placing the elbow on the mounting base. Instead of the guide unit, the movable body may be made movable left and right by a predetermined distance, or the guide unit may be omitted. Instead of the slide rail, the movable body may be guided by a housing that accommodates it so that it can move forward and backward.

[0120] As described above, the training device of the present invention can properly train the joints of the user's limbs. [Explanation of symbols]

[0121] 1 training device 11 Operation section (load amount setting section) 2 Main body 21 Support 21R side end 21L side end 211A Detector piece 211B Detection piece 23 Detector 3. Mobile 31 First platform (platform) 32 Second platform (platform) 4 Drive unit 4C Drive Unit 41 Motor 443 Rotor (displacement member) 5 Information Department 51 Slide rail 52 Rolling part 6 Load application section 6A load applying section 6B Load application section 6C Load application section 611 Friction materials 62 Dial section (load setting section) 64 Powder brake (friction material) 65 Brake shaft (displacement member) 8 Control Unit 8A Control unit 8B Control section 8C Control Unit 8D Control Unit

Claims

1. 1. A training device for training the joints of a user's limbs, comprising: a moving body including a platform on which a limb portion distal to the joint is placed; a main body portion that supports the moving body so that the moving body can move in a front-rear direction; a drive unit for moving the moving body relative to the main body; a control unit that controls the drive unit to perform a movement of moving the moving body forward or backward.

2. 2. The training device according to claim 1, further comprising a guide unit that guides the moving body to move in the forward and backward directions.

3. 3. The training device according to claim 2, further comprising a load applying unit that applies a predetermined amount of load to the movement of the moving object during the exercise.

4. 4. The training device according to claim 3, wherein the load applying unit includes a friction member provided on the main body and in contact with the moving body or a displacement member that is displaced when the moving body moves.

5. 4. The training device according to claim 3, wherein the load applying unit is configured to apply the load by the control unit controlling the drive unit.

6. 6. The training device according to claim 4, further comprising a load setting unit that sets the amount of load applied by the load applying unit.

7. a detection unit that detects when the moving object has reached a predetermined target position provided on the main body, 6. The training device according to claim 4, wherein the control unit controls the drive unit to terminate the load operation for applying the load to exercise the subject based on the detection by the detection unit.

8. 8. The training device according to claim 7, wherein the target position is changeable.

9. When a first load amount is set by the load amount setting unit, and the first load amount is applied to the movement of the moving body to cause the moving body to move, the moving body is not moved by a predetermined value or more in a first load operation.

7. The training device according to claim 6, wherein the control unit controls the load setting unit to change the set value from the first load to a second load that is smaller than the first load.

10. 6. The training device according to claim 1, wherein the moving body is provided on a side of the main body.

11. The training device according to claim 10, wherein the moving body is detachably attached to the main body.

12. 1. A training device for training the joints of a user's limbs, comprising: a moving body including a platform on which a limb portion distal to the joint is placed; a main body portion that supports the moving body so that the moving body can move in a front-rear direction; a load applying unit that applies a predetermined amount of load to the movement of the moving body when the moving body moves forward or backward; a load amount setting unit that sets the amount of load to be applied by the load applying unit; A training device comprising:

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