A rehabilitation system that uses physical movement to control a robot.

Abstract

To provide a rehabilitation system of moving a body to control a robot, thereby actively conducting rehabilitation with having fun.SOLUTION: A rehabilitation system includes: an articulated robot 60; a motion capture 30 for measuring an amount of motion of a part of a user 20; and a control device 40 into which the amount of motion is inputted and transmitting a movement signal to the articulated robot 60.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a rehabilitation support system using a robot, which is used for the rehabilitation of physically disabled persons.

Background Art

[0002] In recent years, in hospitals, elderly welfare facilities, etc., in order to support the rehabilitation of patients and the elderly, the introduction of humanoid robots has been carried out.

[0003] As such a technology, for example, a humanoid robot as shown in Patent Document 1 has been developed. The humanoid robot shown in Patent Document 1 has a shoulder yaw axis that is inclined by a predetermined acute angle around the axis in the left - right direction of the torso with respect to the vertical direction, so that for a user seen from the front of the robot, the up - and - down movement of the shoulder can be expressed by the rotation of the shoulder yaw axis.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Since the humanoid robot shown in Patent Document 1 can express movements similar to those of humans, it is effective in that it can be used as an instructor in rehabilitation where the humanoid robot demonstrates gymnastics and patients or the elderly imitate the gymnastics. However, physically disabled persons with restricted joint ranges of motion have difficulty moving their bodies in accordance with the movements of the humanoid robot, so there has been a problem that they often do not have the desire to perform rehabilitation using the humanoid robot as an instructor.

[0006] This invention addresses these problems and aims to provide a rehabilitation system that allows users to perform rehabilitation in a fun and engaging way by controlling a robot through physical movement. [Means for solving the problem]

[0007] To solve the aforementioned problems, the rehabilitation system of the present invention is: Articulated robots and Motion capture that measures the amount of movement of the user's body parts, The system includes a control device that receives the aforementioned amount of movement and transmits a movement signal to the articulated robot, The control device can calculate the amount of movement of the articulated robot corresponding to the measured amount of movement according to the user and transmit it as a movement signal. It is a distinguishing feature. This feature allows for the movement of a multi-joint robot to exceed the range of motion of a person with a physical disability, enabling the robot to perform physical movements that the person with a physical disability cannot perform on their own. This allows the person with a physical disability to engage in rehabilitation in a fun and enthusiastic way.

[0008] The control device is characterized in that the amount of movement is amplified to the same range of motion as that of a healthy person, and this amount of movement is used as the movement signal. This feature allows individuals with physical disabilities to perform the same movements as able-bodied individuals by adjusting the range of motion of a multi-joint robot to match that of an able-bodied person. For example, rehabilitation can be conducted by having individuals with physical disabilities and able-bodied individuals compete against each other using their respective multi-joint robots.

[0009] The control device is characterized in that it uses one of several steps obtained by changing the calculated amount of movement of the articulated robot according to the user's range of motion as the movement signal. This feature allows for step-by-step adjustment of the movement range of the multi-joint robot, enabling rehabilitation aimed at gradually increasing the range of motion of joints in people with physical disabilities.

[0010] The control device is characterized by calculating the amount of movement of the articulated robot according to the range of motion of the joints of each user's body part, and storing this amount of movement. This feature allows for setting the movement range of the articulated robot to suit each individual user, enabling multiple users to share a single articulated robot. Furthermore, it eliminates the need for the same user to perform initial setup each time.

[0011] The control device is characterized by its ability to predict the amount of movement of other parts of the user from the amount of movement of one part of the user, calculate the amount of movement of multiple parts of the articulated robot corresponding to the amount of movement of the one part, and transmit it as a movement signal. This feature allows for the calculation of movement from a specific joint in a user's body, even if that joint cannot be moved. It enables the calculation of movement from a specific joint based on the movement of a joint in another body part. This allows for the movement of multiple joints in a multi-joint robot, achieving movements similar to those of a healthy human. [Brief explanation of the drawing]

[0012] [Figure 1] This is a schematic diagram showing a rehabilitation system in Embodiment 1 of the present invention that controls a robot by moving the body. [Figure 2] This is a block diagram showing a rehabilitation system in Example 1 where the user controls a robot by moving their body. [Figure 3] This diagram shows the flowchart for the initial setup (calculation of the user's correction factor) in Example 1. [Figure 4] This diagram shows a flowchart of the rehabilitation implementation in Example 1. [Figure 5] This figure shows the mode selection screen displayed on the display device in Example 1. [Figure 6]It is a diagram showing an initial setting (correction coefficient calculation) mode screen displayed on a display device in Example 1. [Figure 7] It is a diagram showing a rehabilitation mode screen displayed on a display device in Example 1. [Figure 8] It is a diagram showing a mode selection screen displayed on a display device in Example 2 of the present invention. [Figure 9] It is a diagram showing an initial setting (correction coefficient selection mode) screen displayed on a display device in Example 2. [Figure 10] It is a diagram showing a user ID / password input screen displayed on a display device in Example 3 of the present invention. [Figure 11] It is a diagram showing a user-exclusive screen displayed on a display device in Example 3. [Figure 12] It is a diagram showing an initial setting (correction coefficient calculation) mode screen displayed on a display device in Example 4 of the present invention. [Figure 13] It is a diagram showing the movement pattern of joints of a healthy person model in Example 4.

Best Mode for Carrying Out the Invention

[0013] A mode for implementing a rehabilitation system for controlling a robot by moving a body according to the present invention (hereinafter referred to as a rehabilitation system) will be described below based on examples.

Examples

[0014] The rehabilitation system according to Example 1 will be described with reference to FIGS. 1 to 7. Hereinafter, the left side as viewed from the front of FIG. 1 will be described as the right side of the user and the multi-joint robot.

[0015] The rehabilitation system of the present invention is applied to the rehabilitation of persons with physical disabilities. It calculates the amount of movement of a multi-joint robot from the amount of movement of the person with a physical disability measured by motion capture, and transmits the amount of movement as a movement signal to the multi-joint robot, thereby allowing the multi-joint robot to perform physical movements that the person with a physical disability is unable to perform.

[0016] As shown in Figure 1, the rehabilitation system 1 mainly consists of a motion capture device 30 that measures the movements of the user 20, a control device 40 that controls the articulated robot 60 according to the movements of the user 20, a display device 50, and the articulated robot 60. The motion capture device 30, the display device 50, and the articulated robot 60 are connected to the control device 40 via a wired or wireless line.

[0017] As shown in Figure 1, the motion capture system 30 is markerless and consists of a camera 31 that detects the movements of the user 20 and a processing unit 32 that calculates the amount of movement of the user 20 based on the output signal from the camera 31. Here, the amount of movement refers to the flexion angle, twisting angle, and three-dimensional position of each joint calculated from the three-dimensional coordinates and rotational phase of each part of the user 20.

[0018] As shown in Figure 1, the control device 40 is a general-purpose personal computer. As shown in Figure 2, the control device 40 consists of a motion amount storage unit 401, a joint data storage unit 402, a correction coefficient calculation unit 403, a correction coefficient storage unit 404, a movement amount calculation unit 405, a movement amount storage unit 406, and a communication unit 407. Each of these components is made up of hardware and software provided by the control device 40.

[0019] The motion amount storage unit 401 stores the amount of motion of each joint of the user 20, which is input from the processing unit 32 that constitutes the motion capture 30.

[0020] The joint data storage unit 402 stores the range of motion of each joint in a healthy person, as well as the range of motion and link length of each joint in the multi-joint robot 60. The range of motion of a joint refers to the range of angles that can be moved at a given joint, and is calculated as (maximum joint angle - minimum joint angle). For example, when flexing the elbow joint, the minimum joint angle is the angle between the horizontal axis and the forearm when the palm is facing upward and the forearm and upper arm are extended horizontally, and the maximum joint angle is the angle between the horizontal axis and the forearm when the forearm is flexed to its maximum extent. Hereinafter, the range of motion when the elbow joint is flexed will be referred to as the range of motion of the elbow joint flexion angle. Generally, the range of motion of the elbow joint flexion angle is 145° in a healthy person.

[0021] The correction coefficient calculation unit 403 calculates a correction coefficient to calculate the amount of movement of the articulated robot 60 from the amount of movement of the user 20. Here, the amount of movement is the joint angle of each joint that the articulated robot 60 is to be moved, and hereafter, the amount of movement when the articulated robot 60 flexes its elbow joint from an extended state is called the amount of movement of the elbow joint flexion angle. The correction coefficient is the value obtained by dividing the range of motion of one joint of a healthy person by the range of motion of one joint of the corresponding user 20, and hereafter, the correction coefficient when the elbow joint is flexed is called the correction coefficient of the elbow joint flexion angle. Specifically, if the range of motion of the elbow joint flexion angle of a healthy person is 145° and the range of motion of the elbow joint flexion angle of user 20 is 40°, then the correction coefficient of the elbow joint flexion angle of user 20 is 145° / 40°, which is 3.6.

[0022] The correction coefficient storage unit 404 stores the calculated correction coefficients for each joint.

[0023] The movement amount calculation unit 405 calculates the movement amount from the motion amount stored in the motion amount storage unit 401 and the correction coefficient stored in the correction coefficient storage unit 404. The movement amount is calculated by multiplying the motion amount of one joint of the user 20 by the corresponding correction coefficient of one joint of the user 20. Specifically, if the motion amount of the flexion angle of the user 20's elbow joint is 30° and the correction coefficient of the flexion angle of the user 20's elbow joint is 2.5, then the movement amount of the flexion angle of the user 20's elbow joint will be 30° × 2.5 = 75°.

[0024] The movement amount storage unit 406 stores the calculated movement amount of each joint.

[0025] The communication unit 407 converts the amount of movement of each joint stored in the movement amount storage unit 406 into a movement signal and transmits it to the articulated robot 60.

[0026] As shown in Figure 1, the display device 50 is the display of a general-purpose personal computer. The display device 50 displays the initial setup screen, the amount of movement during rehabilitation, the amount of movement, etc. In this embodiment 1, a general-purpose computer display is used as the display device 50, but it is not limited to this, and a mobile device such as a tablet or smartphone may also be used.

[0027] As shown in Figure 1, the articulated robot 60 is a humanoid robot with multiple joints. The articulated robot 60 has a drive mechanism built inside and performs various movements according to instructions from the control device 40. The movements that the articulated robot 60 can perform are expected to be those mainly performed in rehabilitation for people with physical disabilities, such as flexion and extension of each joint of the upper limbs, flexion and extension of each joint of the lower limbs, and walking, but are not limited to these movements.

[0028] Next, the method of using the rehabilitation system 1 according to Example 1 will be described. In Example 1, for the sake of simplicity, the explanation will be given using the flexion angle of the elbow joint, which is flexed from an extended state, as an example among several ranges of motion. The user 20 first performs the initial setup and then performs rehabilitation.

[0029] Figure 3 is a flowchart showing the series of processes for calculating the correction factor for user 20. The method for calculating the correction factor will be explained according to the flowchart in Figure 3. First, user 20 selects and operates the initial setting (correction factor calculation) mode button P1 from the mode selection screen 500 (see Figure 5) displayed on the display device 50 (S1). As a result, the initial setting (correction factor calculation) mode screen 510 (see Figure 6) is displayed on the display device 50.

[0030] Next, user 20 operates the start button P3 displayed on the initial setup (correction coefficient calculation) mode screen 510 (S2). This enables the calculation of the correction coefficient for each joint of user 20.

[0031] Next, the user 20 performs a predetermined movement in front of the camera 31 that constitutes the motion capture 30, and the amount of movement of each joint is measured (S3). The predetermined movement is a movement in which the range of motion of each joint of the user 20 can be measured. For example, this could be a movement in which the palm is turned upward, the upper limb is extended forward, and the elbow joint is flexed from the minimum joint angle to the maximum joint angle, but the content is not particularly limited as long as the range of motion of the joint can be measured. The camera 31 detects the movement of the user 20 and outputs a signal to the processing unit 32. The processing unit 32 calculates the amount of movement of each joint of the user 20 from the input signal.

[0032] Next, the processing unit 32, which constitutes the motion capture 30, outputs the calculated amount of movement of each joint of the user 20 to the control device 40 and stores it in the amount of movement storage unit 401 (S4).

[0033] Next, the correction coefficient calculation unit 403 calculates the range of motion of each joint corresponding to the joint from the amount of motion of each joint stored in the motion amount storage unit 401 (S5). In this embodiment, for the sake of simplicity, the case where the minimum joint angle is 0° is used as an example. In addition, depending on the user, the minimum joint angle may be greater than 0°, in which case the range of motion will be calculated after correcting the minimum joint angle to 0°. Specifically, if the minimum joint angle of the elbow joint flexion angle is 0° and the maximum joint angle is 40°, the range of motion of the elbow joint flexion angle of user 20 will be 40°.

[0034] Next, the correction coefficient calculation unit 403 calculates a correction coefficient for each joint from the calculated range of motion of each joint and the range of motion of each joint of a healthy person stored in the joint data storage unit 402 (S6). The correction coefficient for a joint is calculated by dividing the range of motion of the joint of a healthy person by the range of motion of the corresponding joint of the user 20. Specifically, if the range of motion for the flexion angle of the elbow joint of a healthy person is 145° and the range of motion for the flexion angle of the elbow joint of user 20 is 40°, the correction coefficient for the flexion angle of the elbow joint of user 20 will be 3.6.

[0035] Next, the minimum joint angle, maximum joint angle, range of motion, and correction coefficient values ​​for each joint are stored in the correction coefficient storage unit 404 (S7).

[0036] Next, the minimum joint angle, maximum joint angle, range of motion, and correction coefficient values ​​for each joint stored in the correction coefficient storage unit 404 are displayed on the initial setting (correction coefficient calculation) mode screen 510 (S8). As shown in Figure 6, the initial setting (correction coefficient calculation) mode screen 510 displays the following for the elbow joint (flexion): minimum joint angle 0°, maximum joint angle 40°, range of motion 40°, and correction coefficient 3.6. Here, elbow joint (flexion) refers to the flexion angle of the elbow joint.

[0037] Next, by operating the select button P4 on the initial setup (correction coefficient calculation) mode screen 510 (S9), the mode selection screen 500 is displayed again (S10). This completes the series of processes for calculating the correction coefficient for each joint.

[0038] Next, we will explain rehabilitation. Figure 4 is a flowchart showing the series of rehabilitation processes. The flow of rehabilitation will be explained according to the flowchart in Figure 4. First, the user 20 selects and operates the rehabilitation mode button P2 from the mode selection screen 500 displayed on the display device 50 (S11). As a result, the rehabilitation mode screen 520 (see Figure 7) is displayed on the display device 50.

[0039] Next, operate the start button P5 displayed on the rehabilitation mode screen 520 (S12). This enables measurement of the range of motion of each joint of the user 20.

[0040] Next, the user 20 performs various movements in front of the camera 31 that constitutes the motion capture 30, mimicking the movements of an instructor in a video on a tablet device (not shown), thereby measuring the amount of movement of each joint (S13). The camera 31 detects the movements of the user 20 and outputs a signal to the processing unit 32. The processing unit 32 calculates the amount of movement of each joint of the user 20 from the input signal.

[0041] Next, the processing unit 32, which constitutes the motion capture 30, outputs the calculated amount of movement of each joint of the user 20 to the control device 40 and stores it in the amount of movement storage unit 401 (S14).

[0042] Next, the amount of movement of each joint stored in the control device 40 is displayed over time on the rehabilitation mode screen 520 (S15). As shown in Figure 7, the rehabilitation mode screen 520 displays the amount of movement (measured value) of the elbow joint flexion angle of 20.0°, 22.3°, and 24.5° at 1-second intervals starting from time 15.21.12.

[0043] Next, the movement amount calculation unit 405 calculates the movement amount of each joint corresponding to the movement amount of each joint stored in the movement amount storage unit 401 (S16). The movement amount of each joint is calculated by multiplying the movement amount of each joint of the user 20 by the corresponding correction coefficient of each joint of the user 20. In this embodiment, for the sake of simplicity, the calculated movement amount will be explained using the elbow joint as an example from among the multiple movement amounts, and the flexion angle from the extended state to the flexed state will be explained as an example from among the multiple movement amounts.

[0044] Next, the calculated movement amounts of each joint are stored in the movement amount storage unit 406 (S17).

[0045] Next, the amount of movement of each joint is displayed over time on the rehabilitation mode screen 520 (S18). As shown in Figure 7, the rehabilitation mode screen 520 displays the amount of movement (command value) of the elbow joint flexion angle of 72.0°, 80.3°, and 88.2° at 1-second intervals starting from time 15.21.12.

[0046] Next, the communication unit 407 converts the amount of movement of each joint into a movement signal and transmits it to the articulated robot 60 (S19). The articulated robot 60 receives the movement signal and performs an action that reflects the amount of movement of each joint (S20). In other words, the articulated robot 60 can perform joint movements that exceed the range of motion of each joint of the user 20, who is a person with a physical disability.

[0047] Next, by operating the exit button P6 on the rehabilitation mode screen 520 (S21), the mode selection screen 500 is displayed again (S22). This completes the series of rehabilitation processes.

[0048] Furthermore, in the series of rehabilitation processes, the processes from detecting the user's (20) movements using the camera (31) to demonstrating the articulated robot (60) are performed in real time. [Examples]

[0049] Next, the rehabilitation system according to Example 2 will be described with reference to Figures 8 and 9. Note that components that are identical to those in Example 1 and therefore redundant will be omitted.

[0050] As shown in Figure 8, the mode selection screen 600 displayed on the display device 50 shows the initial setting (correction coefficient calculation) mode button P11, the correction coefficient selection mode button P12, and the rehabilitation mode button P13. By selecting and operating the correction coefficient selection mode button P12 from the mode selection screen 600, the correction coefficient selection mode screen 610 (see Figure 9) is displayed on the display device 50.

[0051] As shown in Figure 9, the correction factor selection mode screen 610 displays the following joints as areas from which correction factors can be selected: elbow joint (flexion), elbow joint (torsion), wrist joint (palmar flexion), shoulder joint (flexion), and shoulder joint (extension). Here, elbow joint (torsion) refers to the torsional angle of the elbow joint, wrist joint (palmar flexion) refers to the palmar flexion angle of the wrist joint, shoulder joint (flexion) refers to the flexion angle of the shoulder joint, and shoulder joint (extension) refers to the extension angle of the shoulder joint. In addition, correction factor buttons P14 for 1.0, 2.0, 3.0, and 4.0 are displayed for each joint. The user 20 can select a correction factor by operating the correction factor button P14 for each joint. As shown in Figure 9, a value of 3.0 is selected for the elbow joint (flexion), 3.0 for the elbow joint (torsion), 2.0 for the wrist joint (palmar flexion), 1.0 for the shoulder joint (flexion), and 1.0 for the shoulder joint (extension). For example, if the user feels that their elbow joint (torsion) rehabilitation is progressing well and wants to increase the load, they can press the elbow joint (torsion) adjustment coefficient button 14 to change it from "3.0" to "2.0".

[0052] Once the selection of correction coefficients is complete, operate the OK button P15 displayed on the correction coefficient selection mode screen 610. This stores the selected correction coefficients for each joint in the correction coefficient storage unit 404 of the control device 40, and the mode selection screen 600 is displayed again on the display device 50.

[0053] By selecting the rehabilitation mode button P13 displayed on the mode selection screen 600, the rehabilitation system 1 can be used with the correction coefficients for each joint selected on the correction coefficient selection mode screen 610. [Examples]

[0054] Next, the rehabilitation system according to Example 3 will be described with reference to Figures 10 and 11. Note that components identical to those shown in the previous examples are denoted by the same reference numerals, and redundant explanations are omitted.

[0055] As shown in Figure 10, the user ID and password input screen 700 displayed on the display device 50 shows a user ID input box P21, a password input box P22, and a login button P23. Prior to this, the user 20 enters the user ID set during user registration into the user ID input box P21 and the password into the password input box P22, and then operates the login button P23. As a result, the user-specific screen 710 (see Figure 11) is displayed on the display device 50.

[0056] As shown in Figure 11, the user-only screen 710 displays information about the user 20, including the user's name, user ID, attending physician's name, and physical therapist's name. The user-only screen 710 also displays the initial setup (correction coefficient calculation) mode button P24, the correction coefficient selection mode button P25, and the rehabilitation mode button P26.

[0057] User 20 can determine the correction coefficient by selecting either the initial setting (correction coefficient calculation) mode button P24 or the correction coefficient selection mode button P25. Furthermore, user 20 can perform rehabilitation reflecting the determined correction coefficient by operating the rehabilitation mode button P26. This allows for setting the movement amount of the articulated robot 60 to correspond to each of the multiple users 20, thus enabling multiple users 20 to share a single articulated robot 60.

[0058] User 20 can exit the user-only screen 710 by operating the logout button P27 displayed on the user-only screen 710. This protects information associated with user 20. [Examples]

[0059] Next, the rehabilitation system according to Example 4 will be described with reference to Figures 12 and 13. Note that components identical to those shown in the previous examples are denoted by the same reference numerals, and redundant explanations are omitted.

[0060] As shown in Figure 12, the calculation of the correction coefficient becomes possible by operating the start button P31 displayed on the initial setting (correction coefficient calculation) mode screen 800 displayed on the display device 50. A prediction column is provided to the left of the body part column, and a yes button P33 and a no button P34 are displayed for each body part's prediction column. When the yes button P33 is selected, the predicted correction coefficient is displayed in the correction coefficient (predicted correction coefficient) column, and when the no button P34 is selected, the correction coefficient is displayed in the correction coefficient (predicted correction coefficient) column.

[0061] Here, the predicted correction coefficient refers to a correction coefficient calculated from the correction coefficients of other joints, when a joint cannot be moved and therefore its correction coefficient cannot be directly calculated from the amount of movement of that joint, by predicting a movement pattern in which the joint angle changes in conjunction with the angles of other joints.

[0062] The method for calculating the prediction correction coefficient will be explained using the wrist joint (palmar flexion) as an example. As shown in Figure 13(a), the right arm 201 of the healthy person model 200 has the shoulder joint 202, upper arm 203, elbow joint 204, forearm 205, wrist joint 206, and hand 207 extended vertically downward in an approximately straight line. The palm 208 is facing forward. At this time, the minimum joint angle of palmar flexion of the wrist joint is represented by θ1, and the minimum joint angle of flexion of the elbow joint is represented by θ'1.

[0063] As shown in Figure 13(b), the wrist joint 206 and elbow joint 204 of the healthy model 200 are maximally flexed. It is predicted that the wrist joint 206 and elbow joint 204 change in conjunction with each other. In this case, the maximum joint angle of palmar flexion of the wrist joint is represented by θ2, and the maximum joint angle of flexion of the elbow joint is represented by θ'2. Here, the palmar flexion angle of the wrist joint is represented by (θ2-θ1). Furthermore, the ratio w of the range of motion of the palmar flexion angle of the wrist joint to the range of motion of the elbow joint (flexion) is represented by (θ2-θ1) / (θ'2-θ'1). Thus, the predicted correction coefficient for the palmar flexion angle of the wrist joint is calculated by multiplying the correction coefficient for the flexion angle of the elbow joint by w.

[0064] Specifically, if a healthy person's wrist joint has a range of motion of 90° for palmar flexion and a healthy person's elbow joint has a range of motion of 145° for flexion, then w is 0.6. Then, by multiplying the correction factor for the elbow joint flexion angle of 3.6 by the value of w (0.6), a predictive correction factor of 2.2 for the wrist joint palmar flexion angle can be calculated.

[0065] The calculated prediction correction coefficient is stored in the correction coefficient storage unit 404.

[0066] As shown in Figure 12, in the initial setup (correction factor calculation) mode screen 800 displayed on the display device 50, the yes button P33 is selected in the wrist joint (palmar flexion) prediction field, so the correction factor (predicted correction factor) of 2.2 is displayed in the correction factor (predicted correction factor) field. Also, since the user 20's wrist joint cannot be moved, the minimum joint angle, maximum joint angle, and range of motion are not displayed for the wrist joint (palmar flexion) on the initial setup (correction factor calculation) mode screen 800. Here, the yes button P33 and No button P34 in the prediction field may be set by the user or physical therapist by pressing these buttons P33 and 34, or the control device 40 may set them by analyzing the detected images from the motion capture 30.

[0067] By operating the confirmation button P32 displayed on the initial setup (correction coefficient calculation) mode screen 800, the series of processes for calculating the correction coefficient for each joint and the predicted correction coefficient are completed.

[0068] The amount of movement is calculated by multiplying the amount of motion by a predictive correction factor. For example, the amount of movement of the wrist joint's palmar flexion angle is calculated by multiplying the amount of motion of the elbow joint's flexion angle, measured during rehabilitation, by a predictive correction factor for the wrist joint's palmar flexion angle. The calculated amount of movement is stored in the movement amount storage unit 406.

[0069] The amount of movement in the wrist joint's palmar flexion angle is transmitted as a movement signal to the articulated robot 60 by the communication unit 407, and the articulated robot 60 performs a movement that reflects the amount of movement in the wrist joint's palmar flexion angle. In other words, even if the user 20, a person with a physical disability, cannot move their wrist joint due to contractures or the like, they can make the articulated robot 60 perform the movement of the wrist joint by moving their elbow joint.

[0070] Although embodiments of the present invention have been described above with reference to the drawings, the specific configurations are not limited to these embodiments, and any changes or additions that do not depart from the spirit of the present invention are also included.

[0071] For example, in the above-described embodiments 1 to 4, the rehabilitation system was described in a manner in which it is used by people with physical disabilities, but it is not limited to this and may also be used by the elderly or healthy individuals.

[0072] Furthermore, while the rehabilitation system was described in Examples 1 to 4 above in a manner used for rehabilitation, it is not limited to this and may also be used in the healthcare field or the amusement field.

[0073] Furthermore, although the rehabilitation system in embodiments 1 to 4 described above was configured to control one articulated robot, it is not limited to this configuration, and two or more articulated robots may be controlled.

[0074] Furthermore, while markerless motion capture systems were used in Examples 1 to 4, the system is not limited to this, and other general-purpose motion capture systems, such as marker-type systems or those that measure acceleration, may also be used. [Explanation of symbols]

[0075] 1. Rehabilitation System 20 User 30 Motion Capture 31 Camera 32 Processing Unit 40 Control device 50 Display device 60 Articulated Robots 200 healthy individuals model 202 Shoulder joint 203 Upper arm 204 Elbow joint 205 Forearm 206 Wrist joint 207 Hand part 401 Operation amount storage section 402 Joint data storage unit 403 Correction coefficient calculation unit 404 Correction coefficient storage unit 405 Travel amount calculation section 406 Movement amount storage section 407 Communications Department 500, 600 Mode Selection Screen 510,800 Initial Setup (Correction Factor Calculation) Mode Screen 520 Rehabilitation Mode Screen 610 Correction Factor Selection Mode Screen 700 User ID / Password Input Screen 710 User-only screen

Claims

1. Articulated robots and Motion capture that measures the amount of movement of the user's body parts, The system includes a control device that receives the aforementioned amount of movement and transmits a movement signal to the articulated robot, The control device calculates the amount of movement of the articulated robot corresponding to the measured amount of movement according to the user and transmits it as the movement signal. The control device is a rehabilitation system characterized in that the amount of movement is amplified to the same range of motion as that of a healthy person, and the resulting amount of movement is used as the movement signal.

2. The rehabilitation system according to claim 1, characterized in that the control device uses one of several steps obtained by changing the calculated amount of movement of the articulated robot according to the user's range of motion as the movement signal.

3. The rehabilitation system according to claim 1 or 2, characterized in that the control device calculates the amount of movement of the multi-joint robot according to the range of motion of the joints of each user's body part and stores this amount of movement.

4. The rehabilitation system according to claim 3, characterized in that the control device can predict the amount of movement of other parts of the user from the amount of movement of one part of the user, calculate the amount of movement of multiple parts of the articulated robot corresponding to the amount of movement of the one part, and transmit it as the movement signal.

Images