Shoulder training device

Abstract

To provide a shoulder training device which adopts the motion of both of a shoulder blade part and a shoulder joint.SOLUTION: A shoulder training device for performing passive movement of a shoulder blade part and a shoulder joint comprises: a shoulder blade part holder; an upper arm holder; a shoulder blade part drive means; and shoulder joint drive means. The shoulder blade part holder can be attached along the shoulder blade of a user. The upper arm holder can be attached along the upper arm of the user. The shoulder blade part drive means reproduces the passive movement of the shoulder blade part by operating the shoulder blade part holder. The shoulder joint drive means reproduces the passive movement of the shoulder joint by operating the upper arm holder.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a shoulder training device for passively moving the scapula and shoulder joint. [Background technology]

[0002] Traditionally, passive range of motion (CPM) has been used as an exercise therapy to treat shoulder periarthritis, also known as "frozen shoulder." To reduce the burden on physical therapists, shoulder training devices that repeatedly reproduce training movements are used (see, for example, Non-Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Non-Patent Document 1] Celik, Derya. "Comparison of the outcomes of two different exercise programs on frozen shoulder." Acta orthopaedica et traumatologica turcica 44.4 (2010) 285-292. [Non-patent document 2] Thera Tech Equipment, Inc. "Centura-Anatomical-Shoulder-Kinetec-USA." [Retrieved on 2022-06-17]. Retrieved from the Internet: <URL: http: / / theratechequip.com / wp-content / uploads / 2014 / 06 / Centura-Anatomical-Shoulder-Kinetec-USA.pdf> . Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional shoulder training devices only consider the movement of the shoulder joint, and the training movement of the scapula is insufficient. Furthermore, conventional shoulder training devices perform passive movement of the shoulder joint by holding and moving the user's upper arm, which means that the scapula remains unfixed, unlike when a physical therapist performs training movements, and it is not possible to faithfully reproduce the passive movements performed by a physical therapist.

[0005] The present invention has been made in view of the above circumstances, and aims to provide a shoulder training device that incorporates movements of both the scapula and shoulder joint. [Means for solving the problem]

[0006] According to the present invention, the following inventions are provided. [1] A shoulder training device for performing passive movement of the scapula and shoulder joint, comprising a scapula holder, an upper arm holder, a scapula drive means, and a shoulder joint drive means, wherein the scapula holder can be attached along the scapula of a user, and the upper arm holder can be attached along the upper arm of the user, the scapula drive means reproduces the passive movement of the scapula by operating the scapula holder, and the shoulder joint drive means reproduces the passive movement of the shoulder joint by operating the upper arm holder. [2] A shoulder training device as described in [1], wherein the scapular portion driving means reproduces four passive movements of the scapular portion, namely, flexion / extension, elevation / lowering, by changing the position and posture of the scapular portion holder. [3] A shoulder training device as described in [2], wherein the scapular portion driving means is provided with a parallel link mechanism, and the position and posture of the scapular portion holder are changed by the parallel link mechanism. [4] A shoulder training device as described in [3], wherein the parallel link mechanism comprises a first motor, a second motor, a first arm, and a second arm, the first motor being connected to the base end of the first arm and configured to rotate the first arm, the second motor being connected to the base end of the second arm and configured to rotate the second arm, the first arm and the second arm each being configured by a pair of links connected by a ball joint, the tip ends of which are connected to the scapula holder, and the parallel link mechanism drives the first motor and the second motor to change the position and posture of the scapula holder. [5] A shoulder training device as described in [4], wherein the first motor and the second motor are arranged so that their respective rotation axes are approximately vertical. [6] A shoulder training device as described in [5], wherein the first motor is arranged so that its rotation axis faces a substantially vertical direction and changes the position and posture of the scapular part holder via the first arm to reproduce passive movements of flexion and extension of the scapular part, and the second motor is arranged so that its rotation axis faces a substantially front-to-back direction and changes the position and posture of the scapular part holder via the second arm to reproduce passive movements of elevation and lowering of the scapular part. [7] A shoulder training device as described in any one of [1] to [6], comprising a control means, wherein the control means stores the passive movement of the scapula and shoulder joint taught by an instructor while the scapula holder and the upper arm holder are attached to the user as the operation of the scapula holder and the upper arm holder, and then controls the scapula drive means and the shoulder joint drive means to reproduce the passive movement. [8] A shoulder training device as described in [6], wherein the shoulder joint drive means comprises a third motor, a fourth motor, and a third arm, the third motor being supported by the scapula holder and connected to the base end of the third arm and configured to rotate the third arm, the fourth motor being supported by the tip of the third arm and connected to the base end of the upper arm holder and configured to rotate the upper arm holder, the third motor changing the position and posture of the upper arm holder via the third arm to reproduce passive movement of abduction and adduction of the shoulder joint, and the fourth motor changing the position and posture of the upper arm holder via the upper arm holder to reproduce passive movement of flexion and extension of the shoulder joint. [9] [8] A shoulder training device as described above, further comprising first to fourth encoders and control means, wherein the first to fourth encoders are configured to detect the rotation angles of the first to fourth motors, respectively, and the control means acquires the rotation angles of the first to fourth encoders, thereby storing the passive movement of the scapula and shoulder joint taught by an instructor while the user is wearing the scapula holder and the upper arm holder, and then drives the first to fourth motors to reproduce the passive movement.

[0007] According to the present invention, the scapula holder and the upper arm holder can be operated independently by the scapula drive means and the shoulder joint drive means, making it possible to passively move the scapula and the shoulder joint independently. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view showing the overall configuration of a shoulder training device 100 according to an embodiment of the present invention. [Figure 2] 2 is a rear perspective view of the shoulder exercise device 100 of FIG. 1. [Figure 3] 1. FIG. 3 is a diagram showing the shoulder training device 100 of FIG. 1 worn by a user U seated on a chair C. [Figure 4]2 is an enlarged perspective view showing the state in which the scapula holder 60, shoulder joint driving means 7, upper arm plate 9 and upper arm holder 90 have been removed from the state of FIG. 1. FIG. [Figure 5] FIG. 5 is an enlarged rear perspective view of the state of FIG. 4. [Figure 6] 2 is a mechanism diagram of the shoulder training device 100 of FIG. 1. [Figure 7] 2 is an enlarged perspective view of a shoulder blade holder 60 of the shoulder training device 100 of FIG. 1. FIG. [Figure 8] 2 is a perspective view showing a scapular plate 6, a shoulder joint driving means 7, an upper arm plate 9 and an upper arm holder 90 of the shoulder training device 100 of FIG. 1. FIG. [Figure 9] 2 is a rear perspective view showing a scapular plate 6, a shoulder joint driving means 7, an upper arm plate 9 and an upper arm holder 90 of the shoulder training device 100 of FIG. 1. FIG. [Figure 10] FIG. 2 is a functional block diagram of the shoulder training device 100 of FIG. 1. [Figure 11] FIG. 11A is an explanatory diagram showing the flexion and extension movements of the scapular portion, and FIG. 11B is an explanatory diagram showing the lifting and lowering movements of the scapular portion. [Figure 12] Figure 12A is an explanatory diagram showing horizontal flexion and horizontal extension movements of the shoulder joint, Figure 12B is an explanatory diagram showing flexion and extension movements of the shoulder joint, and Figure 12C is an explanatory diagram showing abduction and adduction movements of the shoulder joint. [Figure 13] 13A is a rear perspective view showing the state of the scapular driving means 3 when the shoulder training device 100 of FIG. 1 performs a passive movement of scapular flexion, and FIG. 13B is a rear perspective view showing the state of the scapular driving means 3 when the shoulder training device 100 of FIG. 1 performs a passive movement of scapular extension. [Figure 14] 14A is a plan view showing the state of FIG. 13A, and FIG. 14B is a plan view showing the state of FIG. 13B. [Figure 15] 15A is a rear perspective view showing the scapular portion driving means 3 when the shoulder training device 100 of FIG. 1 performs a passive movement of lifting the scapular portion, and FIG. 15B is a rear perspective view showing the scapular portion driving means 3 when the shoulder training device 100 of FIG. 1 performs a passive movement of lowering the scapular portion. [Figure 16] 16A is a front view showing the state of FIG. 15A, and FIG. 16B is a front view showing the state of FIG. 15B. [Figure 17] 10 is a flowchart showing the operation of the shoulder training apparatus 100 in a teaching mode M1. [Figure 18] 10 is a flowchart showing the operation of the shoulder training apparatus 100 in a reproduction mode M2 ​​of FIG. [Figure 19] FIG. 19A is a perspective view showing a mode in which a shoulder training apparatus 100 according to a modified example of the present invention is used for the left shoulder, and FIG. 19B is a perspective view showing a mode in which the same shoulder training apparatus 100 is used for the right shoulder. [Figure 20] 20A is a side view showing the state of FIG. 19A, and FIG. 20B is a side view showing the state of FIG. 19B. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following describes embodiments of the present invention. The various features shown in the following embodiments can be combined with each other. Furthermore, each feature can be an independent invention.

[0010] 1. Overall configuration of shoulder training device 100 As shown in Figures 1 and 2, a shoulder training device 100 according to one embodiment of the present invention comprises a support leg 1, a support column 2, a scapula driving means 3, a support arm 5, a scapula plate 6, a shoulder joint driving means 7, an upper arm plate 9, and a control means 10 (see Figure 10).

[0011] As shown in Fig. 3, the shoulder training device 100 of this embodiment is intended to be placed behind a chair C on which a user U is seated to perform shoulder training. The shoulder training device 100 has the scapula holder 60 and upper arm holder 90 attached to the user U seated in the chair C, and drives the scapula driving means 3 and shoulder joint driving means 7 to perform passive exercise of the scapula and shoulder joint of the user U.

[0012] Below, each component of the shoulder training device 100 according to this embodiment will be specifically described. In the following description, the direction in which the spine of a user U seated on chair C in Fig. 3 extends is defined as the up-down direction, and the front-rear and left-right directions are defined based on this. However, because the back of chair C is tilted slightly backward, the defined up-down direction is tilted slightly backward from the vertical direction as shown by the arrow in the figure, and accordingly the front-rear direction is also tilted slightly upward from the horizontal direction.

[0013] <Support leg 1> As shown in Figures 1 and 2, the support leg 1 is configured to stably support the shoulder training device 100. In this embodiment, the support leg 1 is formed of a rod-shaped member. The support leg 1 is configured to extend in the left-right direction from a central portion 1a to which the support column 2 is fixed, and then bends and extends rearward parallel to the ground surface. Although not shown, it is also preferable to provide casters at the bottom of the support leg 1 to easily move the shoulder training device 100.

[0014] <Strut 2> The support pillar 2 is a rod-shaped member that extends upward and slightly backward from the center 1a of the support leg 1. In this embodiment, the angle of backward tilt of the support pillar 2 is preferably set to match the angle of backward tilt of the backrest of the chair C so that it follows the spine of the user U, as shown in FIG. 3. A scapular region driving means 3 is attached to the upper part of the support pillar 2. It is also preferable that the support pillar 2 be extendable and retractable to fit the physique of the user U.

[0015] <Scapula driving means 3> 4 and 5, the scapula portion driving means 3 includes a first servo motor 30, a first arm 31, a second servo motor 40, and a second arm 41. The scapula portion driving means 3 is configured to change the position and posture of the scapula portion holder 60 by driving the first servo motor 30 and the second servo motor 40.

[0016] More specifically, the first servo motor 30 is attached to the upper part of the support column 2 via a first mount 32. The first mount 32 has a generally U-shape that is open at the front in side view, with a lower plate 32l fixed to the support column 2 and an upper plate 32u to which the first servo motor 30 is attached. A space 32s is formed between the lower plate 32l and the upper plate 32u of the first mount 32.

[0017] The first servo motor 30 includes a first encoder 30e and a first motor 30m (see FIG. 10). The first encoder 30e is configured to be able to detect the rotation angle α1 (see FIG. 6) of the first motor 30m. The first motor 30m rotates the first arm 31. In this embodiment, as also shown in FIG. 6, the first motor 30m (first servo motor 30) is disposed so that its rotation axis A1 faces up and down (vertical direction).

[0018] The first arm 31 includes a first base end link 31b and a first tip end link 31t. The first base end link 31b is a thin plate-like member, and the first tip end link 31t is a thin rod-like member.

[0019] The base end side of the first base end link 31b is connected to the first motor 30m so that the thickness direction of the first base end link 31b coincides with the axial direction of the first motor 30m, and is disposed within the space 32s of the first mount 32. The tip side of the first base end link 31b is connected to the base end side of the first tip side link 31t via a ball joint 31j.

[0020] Here, the ball joint 31j movably connects the first base end link 31b and the first tip end link 31t, and includes a ball stud 31j1 with a ball head and a rod, and a socket 31j2 that holds the ball head. In this embodiment, the ball joint 31j is arranged so that the socket 31j2 opens upward in the first base end link 31b, and the ball stud 31j1 is arranged in the first tip end link 31t.

[0021] The tip of the first tip side link 31t is connected to the first bracket 61 of the scapula plate 6 via a ball joint 31k. The ball joint 31k movably connects the first tip side link 31t and the first bracket 61 to each other, and includes a ball stud 31k1 with a ball head and a rod, and a socket 31k2 that holds the ball head. In this embodiment, the ball joint 31k is arranged on the first tip side link 31t so that the ball stud 31k1 faces in substantially the same direction as the ball stud 31j1 of the above-mentioned ball joint 31j (downward in the illustrated example). The socket 31k2 is arranged on the first bracket 61.

[0022] The first arm 31 of this embodiment is configured as a pair of links, which are connected by a ball joint 31j, using the first base end link 31b and the first tip end link 31t described above.

[0023] On the other hand, the second servo motor 40 is attached to the upper part of the support column 2 and to the lower part of the lower plate 32l of the first mount 32 via a second mount 42. The second mount 42 is roughly U-shaped with an open top in side view, with a rear plate 42b fixed to the support column 2 and a front plate 42f to which the second servo motor 40 is attached. A space 42s is formed between the rear plate 42b and the front plate 42f of the second mount 42.

[0024] The second servo motor 40 includes a second encoder 40e and a second motor 40m (see FIG. 10). The second encoder 40e is configured to be able to detect the rotation angle α2 (see FIG. 6) of the second motor 40m. The second motor 40m rotates the second arm 41. In this embodiment, as also shown in FIG. 6, the second motor 40m (second servo motor 40) is disposed so that its rotation axis A2 faces the front-rear direction.

[0025] The second arm 41 includes a second base end link 41b and a second tip end link 41t. The second base end link 41b is a thin plate-like member, and the second tip end link 41t is a thin rod-like member.

[0026] The base end side of the second base end link 41b is connected to the second motor 40m so that the thickness direction of the second base end link 41b coincides with the axial direction of the second motor 40m, and is disposed within a space 42s of the second mount 42. The tip side of the second base end link 41b is connected to the base end side of the second tip side link 41t via a ball joint 41j.

[0027] Here, the ball joint 41j movably connects the second base end link 41b and the second tip end link 41t, and includes a ball stud 41j1 with a ball head and a rod, and a socket 41j2 that holds the ball head. In this embodiment, the ball joint 41j is arranged so that the socket 41j2 opens forward in the second base end link 41b, and the ball stud 41j1 is arranged in the second tip end link 41t.

[0028] The tip of the second tip side link 41t is connected to the second bracket 62 of the scapula plate 6 via a ball joint 41k. The ball joint 41k movably connects the first tip side link 31t and the second bracket 62 to each other, and includes a ball stud 41k1 with a ball head and a rod, and a socket 41k2 that holds the ball head. In this embodiment, the ball joint 41k is arranged on the second tip side link 41t so that the ball stud 41k1 faces in substantially the same direction as the ball stud 41k1 of the above-mentioned ball joint 41k (rearward in the illustrated example). The socket 41k2 is arranged on the first bracket 61.

[0029] The second arm 41 of this embodiment also includes the second base end link 41b and the second tip end link 41t, which are connected to each other by a ball joint 41j to form a pair of links.

[0030] <Support arm 5> The support arm 5 supports the scapula plate 6 while allowing it to be moved and its posture changed by the scapula driving means 3. Specifically, as shown in FIGS. 4 to 6, the support arm 5 includes a base-side arm 50 and a tip-side arm 51. The base-side arm 50 is a thin plate-like member, and its base end is fixed to the front surface of the first mount 32 (the upper plate 32u and the lower plate 32l). The base-side arm 50 extends forward so that its thickness direction coincides with the up-down direction. The tip side of the base-side arm 50 supports the tip-side arm 51 so that the base-side arm 50 can rotate around a rotation axis X1. Here, the rotation axis X1 is set in a direction that is substantially the same as the thickness direction of the base-side arm 50, i.e., the up-down direction.

[0031] The distal arm 51 is an L-shaped member formed by combining two thin plate-like members, and its base end is pivotally supported by the base arm 50. The distal end of the distal arm 51 extends downward from the base arm 50, and pivotally supports the scapular plate 6 at its distal end so that it can rotate around a rotation axis X2. Here, the rotation axis X2 is set in an orientation perpendicular to the rotation axis X1.

[0032] With the above-described configuration, the support arm 5 of this embodiment allows only the rotational movement of the scapular plate 6 about the rotation axis X1 and the rotational movement about the rotation axis X2, and restricts other movements. In other words, the scapular plate 6 is constrained to two degrees of freedom by the support arm 5. As will be described in detail later, the rotational movement of the scapular plate 6 about the rotation axis X1 corresponds to the flexion and extension of the scapula, and the rotational movement of the scapular plate 6 about the rotation axis X2 corresponds to the lifting and lowering of the scapula.

[0033] The scapula plate 6 is a long, thin, plate-like member that is placed along the scapulae of a user U seated on the chair C. The scapula plate 6 is pivotally supported at one end in the longitudinal direction (the right side in the illustrated example) by the distal arm 51 of the support arm 5, with its thickness direction and front-to-back direction coinciding. The scapula plate 6 also includes a first bracket 61 and a second bracket 62 at approximately the center in the longitudinal direction.

[0034] The first bracket 61 is composed of a vertical member 61v and a horizontal member 61h. The vertical member 61v is a rod-shaped member that extends vertically (upward) and has one end fixed to approximately the center of the longitudinal direction of the scapula plate 6 and one of the short sides (upward in the illustrated example). The horizontal member 61h is a rod-shaped member that extends horizontally (to the right in the illustrated example) along the longitudinal direction of the scapula plate 6 from the tip (upper end) of the vertical member 61v. The socket 31j2 of the ball joint 31k is disposed at the tip of the horizontal member 61h so that it opens in the opposite direction (upward) from the scapula plate 6.

[0035] The second bracket 62 is a plate-like member fixed to the approximate center of the scapular plate 6 in the longitudinal direction and the other side in the lateral direction (the downward direction in the illustrated example), more forward than the scapular plate 6. The socket 41k2 of the ball joint 41k is disposed on the rear side of the second bracket 62 so as to open rearward.

[0036] With the first bracket 61 and second bracket 62 as described above, in the shoulder training device 100 of this embodiment, the rotation centers of the ball joints 31k and 41k are each located in approximately the same plane as the scapula plate 6. Here, the rotation centers of the ball joints 31k and 41k are the centers of the ball heads of the ball studs 41k1. In other words, in the shoulder training device 100 of this embodiment, the ball joints 31k and 41k are fixed without any offset in the front-to-rear direction relative to the scapula plate 6. This configuration makes it easy to calculate the motion of the parallel link mechanism PL, and it becomes possible to derive the relational expressions between the rotation angles α1 and α2 of the first motor 30m and the second motor 40m and the rotation angle θ1 and rotation angle θ2 of the scapula plate 6.

[0037] 1, 2 and 7, a scapular holder 60 is attached to the front of the scapular plate 6 (one side in the thickness direction).

[0038] As shown in FIGS. 8 and 9, the scapular holder 60 includes a scapular pad 60p, a circular belt 60b, and a detachable belt 60d. The scapular pad 60p is formed in a thin plate shape that curves slightly forward to be placed behind the user U along the back of the shoulder (back of the scapula). The circular belt 60b is fixed to one side of the scapular pad 60p in the left-right direction, forming a circular portion on the front of the scapular pad 60p. One end of the detachable belt 60d is fixed to the other side of the scapular pad 60p, and the other end is movably attached to the circular belt 60b. A detachable member (buckle) is provided in the center of the detachable belt 60d. It is preferable that the lengths of the circular belt 60b and the detachable belt 60d be adjustable.

[0039] The shoulder blade holder 60 configured as described above is attached to the shoulders of the user U by first passing the upper arm of the user U through the circular belt 60b, then wrapping the detachable belt 60d around the chest of the user U and fastening the buckle. This allows the shoulder blade plate 6 to be attached along the shoulder blades of the user U without wobbling.

[0040] The configuration and shape of the scapula holder 60 are not limited to those described above, and any configuration may be used as long as the scapula plate 6 can be attached along the scapula of the user U without any wobble.

[0041] <Shoulder joint driving means 7> 8 and 9, the shoulder joint driving means 7 includes a third servo motor 70, a third arm 71, and a fourth servo motor 80. The shoulder joint driving means 7 is configured to change the relative position and posture of the upper arm plate 9 with respect to the scapular plate 6 by driving the third servo motor 70 and the fourth servo motor 80.

[0042] More specifically, the third servo motor 70 is attached to the scapular plate 6 via a third mount 72. The third mount 72 is a thin plate-like member, and is attached to an end of the scapular plate 6 in the longitudinal direction (the right end in the illustrated example) so as to be approximately parallel to the scapular plate 6.

[0043] The third servo motor 70 includes a third encoder 70e and a third motor 70m (see FIG. 10). The third encoder 70e is configured to be able to detect the rotation angle α3 (see FIG. 6) of the third motor 70m. The third motor 70m rotates the third arm 71. In this embodiment, the third motor 70m (third servo motor 70) is disposed so that its rotation axis A3 (see FIG. 6) faces in the thickness direction of the scapular plate 6, and therefore in the front-to-back direction.

[0044] The third arm 71 is an L-shaped member made up of two thin plate-like members joined together, and its base end is fixed to the longitudinal end (the right end in the illustrated example) of the scapula plate 6. The tip end of the third arm 71 extends forward relative to the scapula plate 6, and supports a fourth mount 82 at its tip end.

[0045] The fourth servo motor 80 is attached to the third arm 71 via a fourth mount 82. The fourth mount 82 is a thin plate-like member, and is attached to the tip side of the third arm 71 so as to be approximately perpendicular to the longitudinal direction of the scapular plate 6.

[0046] The fourth servo motor 80 includes a fourth encoder 80e and a fourth motor 80m (see FIG. 10). The fourth encoder 80e is configured to be able to detect the rotation angle α4 (see FIG. 6) of the fourth motor 80m. The fourth motor 80m rotates the upper arm plate 9. In this embodiment, the fourth motor 80m (fourth servo motor 80) is disposed so that its rotation axis A4 (see FIG. 6) substantially coincides with the longitudinal direction of the scapular plate 6.

[0047] <Upper Arm Plate 9> The upper arm plate 9 is a long, thin, plate-like member that is placed along the upper arm of a user U seated on the chair C. The base end of the upper arm plate 9 is connected to the fourth motor 80m so that the thickness direction of the upper arm plate 9 and the axial direction of the fourth motor 80m coincide with each other. In addition, an upper arm holder 90 is attached to one side of the thickness direction of the upper arm plate 9 (the side facing the scapula plate 6).

[0048] The upper arm holder 90 is a ring-shaped member that can be attached to and detached from the upper arm of the user U, and its length can be adjusted using, for example, a hook-and-loop fastener. By attaching the upper arm holder 90 to the upper arm of the user U, the upper arm plate 9 can be attached along the upper arm of the user U without wobbling.

[0049] The configuration and shape of the upper arm holder 90 are not limited to those described above, and any configuration may be used as long as the upper arm plate 9 can be attached along the upper arm of the user U without shaking.

[0050] Furthermore, it is preferable to use the above-mentioned first to fourth servo motors 30, 40, 70, and 80 with a high reduction ratio that can ensure the torque required for passive exercise. Furthermore, it is preferable to use the first to fourth servo motors 30, 40, 70, and 80 with low backdrive torque for teaching and mounting operations. Furthermore, for safety reasons, it is preferable to use the first to fourth servo motors 30, 40, 70, and 80 that are driven with a force weaker than the force with which the user U moves the motor himself.

[0051] Although not shown in Figures 1 and 2, it is also preferable to provide a balancer 101 that suspends the scapular plate 6 from above in order to support the weight of the shoulder joint driving means 7, which is in a cantilevered state, as shown in Figure 3.

[0052] <Control means 10> Next, the configuration of the control means 10 that controls the shoulder training apparatus 100 of this embodiment will be described. The control means 10 may be configured with one or more information processing devices, or may be configured using cloud computing. An example of the configuration of the control means 10 according to this embodiment will be described below.

[0053] As shown in the block diagram of the hardware configuration of FIG. 10, the control means 10 includes a processing terminal 11 and first to fourth motor drivers 12a to 12d.

[0054] The processing terminal 11 is, for example, a PC (Personal Computer), but may also be a microcomputer or the like. In this embodiment, the processing terminal 11 includes a control unit 11c, a storage unit 11m, and an operation input unit 11i. Although not shown, the processing terminal 11 also preferably includes a monitor that displays various images and a communication unit (for example, a NIC: Network Interface Controller) that connects to other information processing devices.

[0055] The control unit 11c reads out programs stored in the storage unit 11m and executes various arithmetic processing, and is composed of, for example, a CPU (Central Processing Unit), a microprocessor, a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), etc.

[0056] A part of the storage unit 11m is configured with, for example, RAM (Random Access Memory) or DRAM (Dynamic Random Access Memory), and is used as a work area when the control unit 11c executes processes based on various programs. Also, a part of the storage unit 11m is, for example, a nonvolatile memory such as ROM (Read Only Memory), an HDD (Hard Disk Drive), or an SSD (Solid State Drive), and stores various data such as angle information from the first to fourth encoders 30e, 40e, 70e, and 80e (described later), and programs used in the processes of the control unit 11c.

[0057] The programs stored in the memory unit 11m include, for example, an OS (Operating System) for realizing the basic functions of the processing terminal 11, drivers for controlling various hardware, programs for realizing various functions, etc., and include the computer program related to this embodiment.

[0058] The operation input unit 11i is used to operate the processing terminal 11, and is composed of, for example, a mouse, a keyboard, a touch panel, a voice input unit, a motion recognition device using a camera, and the like.

[0059] The control unit 11c, storage unit 11m, and operation input unit 11i are electrically connected to one another via a bus 11b (system bus). The bus 11b (serial bus) also electrically connects the control unit 11c, storage unit 11m, and operation input unit 11i to the first to fourth motor drivers 12a to 12d. In this embodiment, the processing terminal 11 and the first to fourth motor drivers 12a to 12d are connected in parallel by four different serial cables, and serial communications can be synchronized by a synchronization step described later.

[0060] The first to fourth motor drivers 12a to 12d are provided corresponding to the first to fourth servo motors 30, 40, 70, and 80, respectively. The first to fourth motor drivers 12a to 12d acquire signals from the first to fourth encoders 30e, 40e, 70e, and 80e of the corresponding first to fourth servo motors 30, 40, 70, and 80. The signals from the first to fourth encoders 30e, 40e, 70e, and 80e indicate the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m. The signals are then transmitted to the processing terminal 11 via the bus 11b. The first to fourth motor drivers 12a to 12d drive the corresponding first to fourth motors 30m, 40m, 70m, and 80m of the first to fourth servo motors 30, 40, 70, and 80, respectively, by drive signals generated based on control commands from the processing terminal 11.

[0061] The control means 10 configured as described above acquires the rotation angles α1 to α4 of the first to fourth encoders 30e, 40e, 70e, and 80e, and thereby stores the passive exercise of the scapula and shoulder joint taught by a physical therapist as an instructor while the user U is wearing the scapula holder 60 and the upper arm holder 90. The control means 10 is then configured to reproduce the passive exercise by driving the first to fourth motors 30m, 40m, 70m, and 80m. Note that the instructor (practitioner) who teaches the shoulder training device 100 the passive exercise is not limited to a physical therapist, and may include a doctor, a person who adjusts the device, etc.

[0062] <Parallel link mechanism PL> FIG. 6 is a mechanical diagram showing a configuration in which the scapular plate 6 is supported by the scapular driving means 3 and the support arm 5, and the upper arm plate 9 is supported by the shoulder joint driving means .

[0063] As shown in the figure, the scapula driving means 3 of this embodiment comprises a parallel link mechanism PL, which is made up of a first servo motor 30, a first arm 31, a second servo motor 40, and a second arm 41. The scapula driving means 3 is capable of changing the position and posture of the scapula plate 6 by the parallel link mechanism PL.

[0064] In the parallel link mechanism PL of this embodiment, the rotation axis A1 of the first servo motor 30 (first motor 30m) is arranged to face in a substantially vertical direction (up-down direction), and the rotation axis A2 of the second servo motor 40 (second motor 40m) is arranged to face in a substantially front-to-rear direction. Therefore, the first motor 30m and the second motor 40m are arranged so that their respective rotation axes A1, A2 are substantially vertical.

[0065] Meanwhile, the shoulder joint driving means 7 of this embodiment comprises a serial link mechanism SL made up of a third servo motor 70, a third arm 71, and a fourth servo motor 80, and the serial link mechanism SL makes it possible to change the position and posture of the upper arm plate 9. The third motor 70m and the fourth motor 80m are also arranged so that their respective rotation axes A3 and A4 are approximately vertical.

[0066] The shoulder movement of the user U, in other words, the passive shoulder movement performed by the physical therapist on the user U, can be broken down into the movement of the scapula and the movement of the shoulder joint. The movement of the scapula can be broken down into the flexion and extension movements shown in Fig. 11A and the lifting and lowering movements shown in Fig. 11B.

[0067] As described above, the scapula plate 6 of this embodiment is only permitted to rotate about the rotation axis X1 in the up-down direction and the rotation axis X2 in the front-to-back direction by the support arm 5. As shown in Figures 13A, 14A, 13B, and 14B, the rotation of the scapula plate 6 about the rotation axis X1 by the scapula driving means 3 corresponds to the flexion and extension of the scapula. Furthermore, as shown in Figures 15A, 16A, 15B, and 16B, the rotation of the scapula plate 6 about the rotation axis X2 by the scapula driving means 3 corresponds to the lifting and lowering of the scapula.

[0068] Considering the range of motion of the human body, a rotation angle θ1 (see FIG. 6) of the scapular plate 6 about the rotation axis X1 of about 20° in both the flexion and extension directions is sufficient. Also, a rotation angle θ2 (see FIG. 6) of the scapular plate 6 about the rotation axis X2 of about 20° in both the lifting and lowering directions is sufficient. As such, the scapular plate 6 of this embodiment does not require large positional movements or posture changes, so it is particularly suitable to use a parallel link mechanism PL, which can change the posture of the scapular plate 6 without large movement of the links (arms).

[0069] It is preferable to set each parameter so that the relationship between the rotation angle α1 of the first motor 30m and the rotation angle α2 of the second motor 40m that constitute the parallel link mechanism PL and the rotation angles θ1 and θ2 of the scapular plate 6 is uniquely determined on a one-to-one basis. However, within a range that exceeds the range of motion of the human body described above, it does not have to be uniquely determined.

[0070] Meanwhile, the movement of the shoulder joint can be broken down into horizontal flexion and horizontal extension movements shown in Fig. 12A, flexion and extension movements shown in Fig. 12B, and abduction and adduction movements shown in Fig. 12C. The horizontal flexion and horizontal extension movements are movements with a large range of motion, and require a large movement of the position and change of the posture of the upper arm plate 9. For this reason, in this embodiment, a serial link mechanism SL is used as a means for moving the upper arm plate 9.

[0071] Specifically, the horizontal flexion and horizontal extension movements correspond to rotating the fourth servo motor 80 (fourth motor 80m) in a state where the third servo motor 70 (third motor 70m) is rotated so that the third arm 71 extends upward from the scapula plate 6. Considering the range of motion of the human body, the horizontal flexion and horizontal extension movements require rotating the fourth servo motor 80 (fourth motor 80m) approximately 15° toward the horizontal extension side and approximately 135° toward the horizontal flexion side.

[0072] Furthermore, flexion and extension movements also have a large range of motion, and require large positional changes and posture changes of the upper arm plate 9. Specifically, flexion and extension movements are achieved by rotating the fourth servo motor 80 (fourth motor 80m) while the third servo motor 70 (third motor 70m) is positioned so that the third arm 71 extends horizontally from the scapula plate 6. Considering the range of motion of the human body, flexion and extension movements require the fourth servo motor 80 (fourth motor 80m) to be rotated approximately 180° toward the flexion side and approximately 50° toward the extension side.

[0073] Furthermore, the abduction and adduction movements also have a large range of motion, and require large positional and posture changes for the upper arm plate 9. Specifically, rotating the third servo motor 70 (third motor 70m) corresponds to the abduction and adduction movements. Considering the range of motion of the human body, the abduction and adduction movements require the third servo motor 70 (third motor 70m) to be rotated approximately 180° toward the abduction side and 0° toward the adduction side.

[0074] Furthermore, by combining the basic movements of the disassembled scapular portion and shoulder joint described above, it is possible to memorize and reproduce the complex movements that physical therapists actually perform.

[0075] The following describes specific operations of the teaching mode M1 for storing passive exercise and the reproduction mode M2 ​​for reproducing passive exercise, performed by the shoulder training apparatus 100 configured as described above.

[0076] 2. Operation of Shoulder Exercise Device 100 <Teaching mode M1 operation> The teaching mode M1 is a mode in which the physical therapist actually moves the shoulders of the user U while the user U is wearing the scapular holder 60 and upper arm holder 90, and teaches passive movement of the scapular and shoulder joints, which is then stored in the memory unit 11m of the control means 10.

[0077] In teaching mode M1, as shown in FIG. 17, first, in step S1, the control unit 11c of the control means 10 communicates with the first to fourth servo motors 30, 40, 70, and 80 via the first to fourth motor drivers 12a to 12d to synchronize the first to fourth servo motors 30, 40, 70, and 80. Specifically, all of the first to fourth servo motors 30, 40, 70, and 80 are initialized, and processes are blocked until it is determined that they are ready. Here, in this mode M1, five processes are executed: four processes for serial communication with the first to fourth motor drivers 12a to 12d, and a main process that serves as a timer. Then, when it is determined that they are ready, the process blocking is released, and the first to fourth servo motors 30, 40, 70, and 80 are simultaneously started.

[0078] When synchronization is complete, in the next step S2, the control unit 11c resets the elapsed time Δt (Δt = 0). At the same time, in step S3, the control unit 11c acquires the rotation angles α1 to α4 (angle information) of the first to fourth motors 30m, 40m, 70m, and 80m from the first to fourth encoders 30e, 40e, 70e, and 80e via the first to fourth motor drivers 12a to 12d, and stores them in the memory unit 11m.

[0079] Next, in steps S4 and S5, the control unit 11c determines whether the elapsed time Δt has exceeded a predetermined time T (for example, 100 ms), and waits until it exceeds the predetermined time T. Here, the predetermined time T is the period for acquiring angle information. Then, when the elapsed time Δt has exceeded the predetermined time T (Δt>T), the control unit 11c proceeds to the next step S6.

[0080] Next, in step S6, the control unit 11c determines whether the maximum time (for example, 120 seconds) for a series of passive exercises has been exceeded. If the maximum time has not been exceeded, the process proceeds to step S7, where synchronization is performed again, and the process returns to step S2, where the elapsed time Δt is reset (Δt=0). By repeating steps S2 to S7 until the maximum time is exceeded in step S6, the rotation angles α1 to α4 (angle information) of the first to fourth motors 30m, 40m, 70m, and 80m are acquired every predetermined time T (cycle), and the acquired information is stored in the storage unit 11m.

[0081] If it is determined in step S6 that the maximum time has elapsed, the teaching mode M1 is terminated.

[0082] In this way, in the teaching mode M1, the control unit 11c acquires the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m from the first to fourth encoders 30e, 40e, 70e, and 80e at a predetermined cycle, and then the control unit 11c stores the rotation angles α1 to α4 in the memory unit 11m as time-series angle data.

[0083] <Reproduction mode M2 ​​operation> Next, reproduction mode M2 ​​is a mode in which the passive movement of the scapula and shoulder joint memorized in teaching mode M1 is reproduced by driving the scapula drive means 3 and shoulder joint drive means 7 while the user U is wearing the scapula holder 60 and upper arm holder 90.

[0084] In the reproduction mode M2, as shown in FIG. 18, first, in step SS1, the control unit 11c of the control means 10 reads the time-series angle data stored in the memory unit 11m, i.e., the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m for each predetermined time T.

[0085] Next, in step SS2, the control section 11c synchronizes the first to fourth servo motors 30, 40, 70, and 80 in the same manner as in the teaching mode M1.

[0086] Next, in step SS3, the control unit 11c resets the elapsed time Δt (Δt = 0). At the same time, in step SS4, the control unit 11c transmits the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m read from the storage unit 11m to the first to fourth motor drivers 12a to 12d as target angles. The control unit 11c then generates drive signals for the first to fourth motors 30m, 40m, 70m, and 80m via the first to fourth motor drivers 12a to 12d to drive the first to fourth motors 30m, 40m, 70m, and 80m.

[0087] Furthermore, in step SS5, the control unit 11c acquires the rotation angles α1 to α4 (angle information) of the first to fourth motors 30m, 40m, 70m, and 80m from the first to fourth encoders 30e, 40e, 70e, and 80e, and stores them in the memory unit 11m. This allows the passive exercise (treatment content) actually performed on the user U to be stored. The rotation angles α1 to α4 (angle information) are also used for feedback control (semi-closed loop control) of the first to fourth servo motors 30, 40, 70, and 80.

[0088] Next, in steps SS6 and SS7, the control unit 11c determines whether the elapsed time Δt has exceeded a predetermined time T (for example, 100 ms), and waits until it exceeds the predetermined time T. Here, the predetermined time T is the period for transmitting the target angle. Then, when the elapsed time Δt has exceeded the predetermined time T (Δt>T), the control unit 11c proceeds to the next step SS8.

[0089] Next, in step SS8, the control unit 11c determines whether the maximum time (e.g., 120 seconds) for the series of passive exercises set in the teaching mode M1 has been exceeded. If the maximum time has not been exceeded, the control unit 11c proceeds to step SS9, executes synchronization again, and returns to step SS3 to reset the elapsed time Δt (Δt = 0). By repeating steps SS3 to SS9 until the maximum time is exceeded in step SS8, the control unit 11c transmits the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m as target angles every predetermined time T (cycle). The control unit 11c then generates drive signals for the first to fourth motors 30m, 40m, 70m, and 80m via the first to fourth motor drivers 12a to 12d to drive the first to fourth motors 30m, 40m, 70m, and 80m.

[0090] If it is determined in step SS8 that the maximum time has elapsed, the teaching mode M1 is terminated.

[0091] Thus, in reproduction mode M2, the control section 11c of the control means 10 reads out the rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m stored in the memory section 11m as time-series angle data, generates drive signals for the first to fourth motors 30m, 40m, 70m, and 80m, and drives these first to fourth motors 30m, 40m, 70m, and 80m. In this way, the passive movement of the scapula and shoulder joint performed by the physical therapist and stored in teaching mode M1 is reproduced as the movement of the scapula holder 60 and the upper arm holder 90.

[0092] When reading out the time-series angle data, it is also preferable to thin out the data appropriately at equal intervals and transmit the data to the first to fourth motor drivers 12a to 12d.

[0093] 3. Effects (1) The shoulder training device 100 of this embodiment is equipped with two drive means: a scapula drive means 3 and a shoulder joint drive means 7. The scapula drive means 3 reproduces the passive movements of scapular flexion and extension, and elevation and lowering as movements of the scapula holder 60, and the shoulder joint drive means 7 reproduces the passive movements of shoulder joint horizontal flexion and horizontal extension, flexion and extension, abduction and adduction as movements of the upper arm holder 90. This makes it possible to passively move the scapula and shoulder joint independently. (2) In this embodiment, the scapular drive means 3 is configured to have a parallel link mechanism PL including a first servo motor 30, a first arm 31, a second servo motor 40, and a second arm 41, and the parallel link mechanism PL changes the position and posture of the scapular plate 6. This makes it possible to change the posture of the scapular holder 60 without moving the link significantly, compared to a serial link mechanism, and thus allows the shoulder training device 100 to be made more compact. Furthermore, it is possible to increase the strength compared to a cantilever serial link mechanism. (3) In this embodiment, the first motor 30m of the first servo motor 30 and the second motor 40m of the second servo motor 40 that constitute the parallel link mechanism PL are arranged so that their respective rotation axes A1, A2 are substantially vertical. This increases the range of motion of the scapula part holder 60, allowing the posture of the scapula part holder 60 to be suitably changed. (4) In this embodiment, the shoulder training device 100 is equipped with a scapular section driving means 3 and a shoulder joint driving means 7, and is capable of performing passive movements of the scapular section and the shoulder joint independently. As a result, the control means 10 can faithfully reproduce passive movements of the scapular section and shoulder joint in response to instructions from a physical therapist using the scapular section driving means 3 and the shoulder joint driving means 7. By having the physical therapist teach passive movements, the same passive movements can be repeatedly reproduced, which not only reduces the burden on the physical therapist but also makes it possible to avoid close contact during the COVID-19 pandemic. (5) The shoulder training device 100 of this embodiment is equipped with first to fourth encoders 30e, 40e, 70e, and 80e, and is configured to detect rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m, respectively. This makes it possible to obtain the time-series rotation angles α1 to α4 of the first to fourth motors 30m, 40m, 70m, and 80m in response to teaching of passive movement of the scapula and shoulder joint by a physical therapist, and to faithfully reproduce the passive movement.

[0094] 4. Variations The present invention can also be implemented in the following aspects.

[0095] In the above-described embodiment, the first mount 32 supporting the first servo motor 30 and the second mount 42 supporting the second servo motor 4 are each fixed to the support column 2. However, as shown in Figures 19A to 20B, it is also preferable to configure the first mount 32 and the second mount 42 not to be fixed to the support column 2, but to be supported rotatably about an axis in the front-rear direction via a shaft member 2a.

[0096] With this configuration, the shoulder training device 100 can be used for both the left and right shoulders, and can be switched between them, as shown in Figures 19A and 19B and 20A and 20B. In this case, in order to improve left-right symmetry, it is preferable that the rotation axis X1 of the first motor 30m be oriented substantially vertically (up and down) and the rotation axis X2 be oriented in the front-to-rear direction.

[0097] In the above-described embodiment, the control means 10 is configured to have the teaching mode M1 and to store teaching operations of a physical therapist, etc. However, the control means 10 may be configured to operate according to a pre-stored program without performing the teaching mode M1.

[0098] In the above-described embodiment, the scapular plate 6 is configured to be driven by a parallel link mechanism PL, but it is also possible to configure the scapular plate 6 to be operated by a serial link mechanism.

[0099] It is also preferable that the shoulder training device 100 has an emergency stop switch that allows the user U to stop the device at will.

[0100] In the above-described embodiment, the shoulder training device 100 and the chair C are configured as separate bodies, but the shoulder training device 100 and the chair C may also be configured as an integrated body.

[0101] In the above-described embodiment, the rotation axis A1 of the first motor 30m of the first servo motor 30 and the rotation axis A2 of the second motor 40m of the second servo motor 40 are arranged to be substantially perpendicular to each other, but the arrangement of the rotation axis A1 and the rotation axis A2 is not limited to this. However, to suitably configure the parallel link mechanism PL, it is desirable to arrange the rotation axis A1 and the rotation axis A2 non-parallel. [Explanation of symbols]

[0102] 1: Support leg 1a: Central part 2: Strut 2a: Shaft member 3: Scapular part driving means 4: Second servo motor 5: Support arm 6: Scapular plate 7: Shoulder joint drive means 9: Upper arm plate 10: Control means 11: Processing terminal 11b: Bus 11c: Control section 11i: Operation input section 11m: Storage section 12a: First motor driver 12b: Second motor driver 12c: 3rd motor driver 12d: 4th motor driver 30: First servo motor 30e: First encoder 30m: First motor 31: First arm 31b: First base end link 31j: Ball joint 31j1: Ball studs 31j2: Socket 31k: Ball joint 31k1: Ball stud 31k2 : Socket 31t: First tip link 32: First Mount 32l: Lower plate 32s: Space 32u: Upper board 40: Second servo motor 40e: Second encoder 40m: Second motor 41: Second arm 41b: Second base end link 41j: Ball joint 41j1: Ball stud 41j2: Socket 41k: Ball joint 41k1: Ball Stud 41k2 : Socket 41t: Second tip link 42: Second Mount 42b: Rear plate 42f: Front panel 42s: Space 50: Base end arm 51: Tip arm 60: Scapula holder 60a: Shoulder blade pad 60b: Circular belt 60f: Detachable belt 61: First bracket 61h: Horizontal member 61v: Vertical member 62: Second bracket 70: 3rd servo motor 70e: 3rd encoder 70m: 4th motor 71: Third arm 72: 3rd Mount 80: 4th servo motor 80e: 4th encoder 80m: 4th motor 82: 4th Mount 90: Upper arm holder 100: Shoulder training device 101: Balancer A1 to A4: Rotation axis C: Chair M1: Teaching mode M2: Replay mode PL: Parallel link mechanism SL: Serial link mechanism T: Predetermined time U:User X1, X2: Rotation axis Δt: elapsed time α1 to α4: Rotation angle θ1: Rotation angle θ2: Rotation angle

Claims

1. A shoulder training device for passively moving the scapula and shoulder joint, The device includes a scapula holder, an upper arm holder, a scapula drive means, and a shoulder joint drive means, The scapular portion holder can be attached along the scapula of the user, the upper arm holder is attachable along the upper arm of the user; the scapular portion driving means reproduces passive movement of the scapular portion by operating the scapular portion holder; The shoulder joint driving means reproduces passive movement of the shoulder joint by operating the upper arm holder.

2. 10. The shoulder training device of claim 1, The shoulder training device has a scapular drive means that reproduces four passive movements of the scapular part, namely flexion / extension and lifting / lowering, by changing the position and posture of the scapular part holder.

3. 3. The shoulder training device of claim 2, The shoulder training device includes a parallel link mechanism in which the scapular portion driving means changes the position and posture of the scapular portion holder.

4. 4. The shoulder training device of claim 3, the parallel link mechanism includes a first motor, a second motor, a first arm, and a second arm; the first motor is connected to a base end side of the first arm and configured to rotate the first arm; the second motor is connected to a base end side of the second arm and configured to rotate the second arm; the first arm and the second arm are each configured by a pair of links connected by a ball joint, and a tip end thereof is connected to the scapula holder, The parallel link mechanism drives the first motor and the second motor to change the position and posture of the scapular holder.

5. 5. A shoulder training device according to claim 4, A shoulder training device, wherein the first motor and the second motor are arranged so that their respective rotation axes are substantially vertical.

6. 6. A shoulder training device according to claim 5, the first motor is disposed so that its rotation axis faces a substantially vertical direction, and changes the position and posture of the scapula portion holder via the first arm so as to reproduce passive movement of flexion and extension of the scapula portion; The second motor is positioned so that its rotation axis faces approximately in the front-to-back direction, and changes the position and posture of the scapular holder via the second arm to reproduce the passive movement of raising and lowering the scapular portion. This shoulder training device

7. A shoulder training device according to any one of claims 1 to 6, A control means is provided, The control means stores the passive movement of the scapula and shoulder joint taught by an instructor while the scapula holder and upper arm holder are attached to the user as the operation of the scapula holder and upper arm holder, and then reproduces the passive movement by controlling the scapula drive means and the shoulder joint drive means.

8. 7. A shoulder training device according to claim 6, the shoulder joint driving means includes a third motor, a fourth motor, and a third arm; the third motor is supported by the scapula holder and connected to a base end side of the third arm to rotate the third arm; the fourth motor is supported on a tip end portion of the third arm and connected to a base end side of the upper arm holder to rotate the upper arm holder; the third motor changes the position and posture of the upper arm holder so as to reproduce passive abduction and adduction of the shoulder joint via the third arm; The fourth motor changes the position and posture of the upper arm holder so as to reproduce passive movement of flexion and extension of the shoulder joint via the upper arm holder.

9. 9. A shoulder training device according to claim 8, Further comprising first to fourth encoders and a control means, the first to fourth encoders are configured to detect rotation angles of the first to fourth motors, respectively; The control means acquires the rotation angles of the first to fourth encoders, thereby storing the passive movement of the scapula and shoulder joint taught by an instructor while the user is wearing the scapula holder and the upper arm holder, and then drives the first to fourth motors to reproduce the passive movement.

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