rehabilitation device

Abstract

A control unit is provided with a right movable part (Ka) connected to the right hand (Ha), a left movable part (Kb) connected to the left hand (Hb), a right motor (Ma) that rotates the right movable part (Ka), a left motor (Mb) that rotates the left movable part (Kb), and a motor control means that controls the right motor (Ma) and the left motor (Mb). The motor control means is configured to perform bilateral control, wherein when the right motor (Ma) is rotated by an external force of the right hand (Ha) or the left motor (Mb) is rotated by an external force of the left hand (Kb), the other motor is rotated by electric power in a direction opposite to the rotation direction of the motor rotated by the external force, thereby following the one motor rotated by the external force.

Description

Technology Field

[0001] The present invention relates to a device for the rehabilitation of a patient whose body part is paralyzed due to sequelae of a stroke, and more specifically, to a rehabilitation device for performing training to move the paralyzed hand in the same way as the healthy hand when one hand is a normal, healthy hand and the other hand is paralyzed and incapacitated. Background Technology

[0002] Conventionally, a rehabilitation device of this type is known, for example, the technology disclosed in Patent Publication No. 5928851 (Patent Document 1). This rehabilitation device is a rehabilitation device for performing training to move the paralyzed hand in the same way as the healthy hand when one hand is a normal healthy hand and the other hand is paralyzed and incapacitated. It is equipped with a paralyzed hand movable part that moves by the paralyzed hand, a healthy hand movable part that moves by the healthy hand, a motion detection part that detects the movement of the healthy hand, an assistance granting part that grants assistance to the paralyzed hand movable part so that a movement approximately equivalent to the movement of the healthy hand detected by the motion detection part is performed, and a display that displays a clear image of the movement of the healthy hand and an inverted image obtained by inverting the clear image onto a mirror surface. The motion detection part is composed of a camera that captures a predetermined movement of the healthy hand, and the assistance granting part is controlled while performing the necessary display on the display based on the image data captured by this camera.

[0003] Therefore, when training the paralyzed hand, the patient links the paralyzed hand to the movable part of the paralyzed hand and the healthy hand to the movable part of the healthy hand. While visually confirming the clear and inverted images displayed on the screen, the patient moves the healthy and paralyzed hands in unison. At this time, assistance is provided to the paralyzed hand by the assistance unit, enabling the paralyzed hand to perform movements reliably. Furthermore, the patient sees images where both the healthy and paralyzed hands appear to be moving smoothly; this visual input stimulates the brain, and because the patient perceives that they are moving the paralyzed hand smoothly themselves, it creates a supportive effect for the paralyzed hand's movement, resulting in a high rehabilitation effect. Prior art literature

[0004] Patent Publication No. 5928851 The problem to be solved

[0005] However, there are two types of paralysis: one where the left hand is paralyzed and the right hand is healthy, and another where the right hand is paralyzed and the left hand is healthy. In the aforementioned conventional rehabilitation device, the movable part for the paralyzed hand is exclusively for the paralyzed hand, and the movable part for the healthy hand is also exclusively for the healthy hand. Therefore, when the left hand is paralyzed and the right hand is healthy, a device for left-hand paralysis must be prepared with the movable part for the paralyzed hand installed on the left and the movable part for the healthy hand installed on the right. Conversely, when the right hand is paralyzed and the left hand is healthy, a device for right-hand paralysis must be prepared with the movable part for the paralyzed hand installed on the right and the movable part for the healthy hand installed on the left. Consequently, to accommodate the two types of paralysis, two devices—one for left-hand paralysis and one for right-hand paralysis—are required, which has the problem of poor efficiency.

[0006] In addition, since the assistance unit is controlled based on image data captured by the camera, the movements of the healthy hand cannot be faithfully transmitted to the paralyzed hand, and there was a problem of reduced responsiveness due to some time delay in reflecting the movements of the healthy hand to the paralyzed hand.

[0007] The present invention was made in consideration of the above problems and aims to provide a rehabilitation device that improves versatility by enabling a single device to handle both modes of paralysis, faithfully transmits the movements of a healthy hand to a paralyzed hand, and improves performance and reliability by improving responsiveness. means of solving the problem

[0008] The rehabilitation device of the present invention for achieving this purpose is a rehabilitation device for performing training to move the paralyzed hand in the same way as the healthy hand when one hand is a normal healthy hand and the other hand is a paralyzed hand that is incapacitated. It comprises a right movable part connected to the right hand and a left movable part connected to the left hand, a right motor that rotates the right movable part by electric power, a left motor that rotates the left movable part by electric power, and a control unit having a motor control means for controlling the right motor and the left motor.

[0009] The motor control means comprises a right motor driving means for driving the right motor, a left motor driving means for driving the left motor, and a driving control means for performing bilateral control on the right motor driving means and the left motor driving means, wherein when the right motor is rotated through the right movable part by an external force of the right hand or the left motor is rotated through the left movable part by an external force of the left hand, the other motor is rotated by electric power in a direction opposite to the rotation direction of the one motor by following the one motor rotated by the external force.

[0010] Therefore, when training a paralyzed hand, the patient connects the right hand to the right movable part and the left movable part to the left hand, regardless of whether the paralyzed hand is the right or left hand, and moves both hands identically. In this case, if the right motor is rotated through the right movable part by an external force from the right hand, or the left motor is rotated through the left movable part by an external force from the left hand, the drive control means performs bilateral control by following the motor on one side rotated by the external force and similarly rotating the other motor by electric power in a direction opposite to the rotation direction of the motor on the other side. Generally, since the movement of the movable part on the healthy hand side is smooth, the movable part on the paralyzed hand side moves in accordance with the movement of the healthy hand side. Therefore, regardless of whether the right or left hand is the paralyzed hand, the paralyzed hand can be moved identically to the healthy hand. Consequently, since a single device can handle both modes of paralysis—where the left hand is paralyzed and the right hand is healthy, and where the right hand is paralyzed and the left hand is healthy—versatility can be improved accordingly.

[0011] In addition, since the driving control means performs bilateral control, it is possible to faithfully transmit the movement of the healthy hand to the paralyzed hand, and because the responsiveness is good, performance can be improved compared to conventional methods and reliability can be improved.

[0012] In this case, a right rotation angle detector that detects the rotation angle of the right motor and a left rotation sensitivity detector that detects the rotation angle of the left motor are provided.

[0013] The above drive control means is effectively configured to perform control with respect to the right motor drive means and the left motor drive means based on the rotation angle detected by the right rotation angle detector and the rotation angle detected by the left rotation angle detector. By comparing the detected rotation angles, the motor with the difference in angle can be reverse-controlled so that the difference in angle is reduced, thereby allowing both motors to be reverse-controlled.

[0014] And, as needed, the control unit comprises a right operating angle range setting means for setting a right operating angle range based on the starting position of the right operating part by input from the input unit, a left operating angle range setting means for setting a left operating angle range based on the starting position of the left operating part by input from the input unit, and a memory means for storing a right motor rotation angle range of the right motor corresponding to the right operating angle range set by the right operating angle range setting means and a left motor rotation angle range of the left motor corresponding to the left operating angle range set by the left operating angle range setting means.

[0015] The motor control means is configured to include a right rotation angle limiting means that allows driving of the right motor by the right motor driving means when the right rotation angle detected by the right rotation angle detector is within the right motor rotation angle range stored in the memory means, and limits driving of the right motor by the right motor driving means when it becomes the upper or lower limit of the right motor rotation angle range stored in the memory means, and a left rotation angle limiting means that allows driving of the left motor by the left motor driving means when the left rotation angle detected by the left rotation angle detector is within the left motor rotation angle range stored in the memory means, and limits driving of the left motor by the left motor driving means when it becomes the upper or lower limit of the left motor rotation angle range stored in the memory means.

[0016] Accordingly, the right operating angle range is set by the right operating angle range setting means by input from the input unit, and the left operating angle range is set by the left operating angle range setting means. The memory means stores the right motor rotation angle range of the right motor corresponding to the right operating angle range and the left motor rotation angle range of the left motor corresponding to the left operating angle range. In this state, when the left and right hands are moved equally, the right rotation angle detector detects the rotation angle of the right motor and the left rotation angle detector detects the rotation angle of the left motor, and the right rotation angle limiting means performs driving by the electric motor of the right motor when the right rotation angle detected by the right rotation angle detector is within the right motor rotation angle range, and limits driving by the electric motor of the right motor by the right motor driving means when it becomes the upper or lower limit of the right motor rotation angle range. Meanwhile, the left rotation angle limiting means performs driving by the electric motor of the left motor when the left rotation angle detected by the left rotation angle detector is within the left motor rotation angle range, and limits driving by the electric motor of the left motor by the left motor driving means when it becomes the upper or lower limit of the left motor rotation angle range. Therefore, since the right motor or left motor with restricted drive does not perform forced rotation by electric power, the movement of the right movable part or left movable part by electric power can be restricted, thereby suppressing excessive rotation.

[0017] For example, if the left hand is paralyzed and the right hand is healthy, the left range of motion of the left movable part is set by the means for setting the left range of motion based on input from the input unit. The right range of motion of the right movable part does not need to be specifically set. On the other hand, if, for example, the right hand is paralyzed and the left hand is healthy, the right range of motion of the right movable part is set by the means for setting the right range of motion based on input from the input unit. The left range of motion of the left movable part does not need to be specifically set. Accordingly, since the rotational range of the movable part on the paralyzed hand side can be limited, it is possible to prevent excessive movement of the paralyzed hand, thereby ensuring the safety of the paralyzed hand. In other words, because it is known in advance which hand is paralyzed and also to some extent how much the paralyzed hand moves compared to the healthy hand, training can be conducted without placing a burden on the paralyzed hand.

[0018] Additionally, as needed, the control unit includes a right upper limit speed setting means for setting a right upper limit speed, which is an upper limit of the rotational speed of the right movable part, by input from an input unit; a left upper limit speed setting means for setting a left upper limit speed, which is an upper limit of the rotational speed of the left movable part, by input from an input unit; and a memory means for storing a right motor upper limit speed of the right motor corresponding to the right upper limit speed set by the right upper limit speed setting means, and a left motor upper limit speed of the left motor corresponding to the left upper limit speed set by the left upper limit speed setting means.

[0019] The motor control means comprises a right rotational speed calculation means for calculating the rotational speed of the right motor, a left rotational speed calculation means for calculating the rotational speed of the left motor, a right rotational speed limiting means for allowing driving of the right motor by the right motor driving means when the right rotational speed calculated by the right rotational speed calculation means does not reach the upper limit speed of the right motor stored in the memory means, and limiting driving of the right motor by the right motor driving means when it reaches the upper limit speed of the right motor stored in the memory means, and a left rotational speed limiting means for allowing driving of the left motor by the left motor driving means when the left rotational speed calculated by the left rotational speed calculation means does not reach the upper limit speed of the left motor stored in the memory means, and limiting driving of the left motor by the left motor driving means when it reaches the upper limit speed of the left motor stored in the memory means.

[0020] Accordingly, the right upper limit speed is set by the right upper limit speed setting means and the left upper limit speed is set by the left upper limit speed setting means based on input from the input section. The memory means stores the right motor upper limit speed of the right motor corresponding to the right upper limit speed and the left motor upper limit speed of the left motor corresponding to the left upper limit speed. In this state, when the left and right hands are moved equally, the right rotational speed calculation means calculates the rotational speed of the right motor and the left rotational speed calculation means calculates the rotational speed of the left motor. The right rotational speed limiting means allows driving by the right motor drive means to drive the right motor when the right rotational speed calculated by the right rotational speed calculation means does not reach the right motor upper limit speed, and limits driving by the right motor drive means to drive the right motor when it exceeds the right motor upper limit speed. Meanwhile, the left rotational speed limiting means allows driving by the left motor drive means to drive the left motor when the left rotational speed calculated by the left rotational speed calculation means does not reach the left motor upper limit speed, and limits driving by the left motor drive means to drive the left motor when it exceeds the left motor upper limit speed. Therefore, since the right motor or left motor with restricted drive does not perform forced rotation by electric power, the movement of the right movable part or left movable part by electric power can be restricted, thereby suppressing excessive rotation.

[0021] For example, if the left hand is paralyzed and the right hand is healthy, the left upper limit speed of the left movable part is set by the left upper limit speed setting means based on input from the input unit. The right upper limit speed of the right movable part does not need to be specifically set. On the other hand, for example, if the right hand is paralyzed and the left hand is healthy, the right upper limit speed of the right movable part is set by the right upper limit speed setting means based on input from the input unit. The left upper limit speed of the left movable part does not need to be specifically set. By doing so, the rotational speed of the movable part on the paralyzed hand side can be limited, thereby preventing excessive movement of the paralyzed hand and ensuring the safety of the paralyzed hand. In other words, since it is known in advance which hand is paralyzed and also to some extent how much the paralyzed hand moves compared to the healthy hand, training can be conducted without placing a burden on the paralyzed hand.

[0022] Additionally, as necessary, the control unit includes a right upper limit setting means for setting a right upper limit, which is an upper limit of the rotational force of the right movable part, by means of input from an input unit; a left upper limit setting means for setting a left upper limit, which is an upper limit of the rotational force of the left movable part, by means of input from an input unit; and a storage means for storing a right motor upper limit load of the right motor corresponding to the right upper limit set by the right upper limit setting means, and a left motor upper limit load of the left motor corresponding to the left upper limit set by the left upper limit setting means.

[0023] The motor control means comprises a right load calculation means for calculating the load of the right motor, a left load calculation means for calculating the load of the left motor, and the right load calculated by the right load calculation means is stored in the memory means. If the load does not reach the upper limit of the right motor, driving by electric motor of the right motor by the right motor driving means is allowed, and if the load exceeds the upper limit of the right motor stored in the memory means, driving by electric motor of the right motor by the right motor driving means is restricted. It is configured to have a right rotational force limiting means that when the load calculated by the left load calculation means does not reach the upper limit of the left motor stored in the memory means, driving by electric motor of the left motor by the left motor driving means is allowed, and when the load exceeds the upper limit of the left motor stored in the memory means, driving by electric motor of the left motor by the left motor driving means is restricted.

[0024] Accordingly, the right upper limit force is set by the right upper limit force setting means based on the input from the input section, and the left upper limit force is set by the left upper limit force setting means. The memory means stores the right motor upper limit load of the right motor corresponding to the right upper limit force and the left motor upper limit load of the left motor corresponding to the left upper limit force. In this state, when the left and right hands are moved equally, the right load calculation means calculates the load of the right motor and the left load calculation means calculates the load of the left motor; the right rotational force limiting means allows driving by the electric motor of the right motor by the right motor driving means when the right load calculated by the right load calculation means does not reach the right motor upper limit load, and limits driving by the electric motor of the right motor by the right motor driving means when it exceeds the right motor upper limit load. Meanwhile, the left rotational force limiting means allows driving by the electric motor of the left motor by the left motor driving means when the left load calculated by the left load calculation means does not reach the left motor upper limit load, and limits driving by the electric motor of the left motor by the left motor driving means when it exceeds the left motor upper limit load. Therefore, since the right motor or left motor with restricted drive does not perform forced rotation by electric power, the movement of the right movable part or left movable part by electric power can be restricted, thereby suppressing excessive rotation.

[0025] For example, if the left hand is paralyzed and the right hand is healthy, the left upper limit of the left movable part is set by the left upper limit setting means based on input from the input unit. The right upper limit of the right movable part does not need to be specifically set. On the other hand, for example, if the right hand is paralyzed and the left hand is healthy, the right upper limit of the right movable part is set by the right upper limit setting means based on input from the input unit. The left upper limit of the left movable part does not need to be specifically set. By doing so, the rotational force of the movable part on the paralyzed hand side can be limited, thereby preventing excessive movement of the paralyzed hand and ensuring the safety of the paralyzed hand. In other words, since it is known in advance which hand is paralyzed and also to some extent how much the paralyzed hand moves compared to the healthy hand, training can be conducted without placing a burden on the paralyzed hand.

[0026] In addition, if necessary, the control unit may ensure safety by being configured to include an emergency stop means that forcibly stops the operation of the right motor and the left motor based on an abnormal signal.

[0027] And, as needed, a right-hand imaging camera for capturing the right hand connected to the right movable part, a left-hand imaging camera for capturing the left hand connected to the left movable part, and a display are provided.

[0028] The control unit comprises a camera control means for controlling the right-hand imaging camera and the left-hand imaging camera, a display display means for controlling the display of the display, and a mode setting means for performing a switching setting to one of a left-hand training mode when the right hand is a healthy hand and the left hand is a paralyzed hand, and a right-hand training mode when the right hand is a paralyzed hand and the left hand is a healthy hand, based on input from the input unit.

[0029] The camera control means comprises an image switching means that enables image data from the right-hand imaging camera and disables image data from the left-hand imaging camera when the mode setting means sets the left-hand training mode, and disables image data from the right-hand imaging camera and enables image data from the left-hand imaging camera when the mode setting means sets the right-hand training mode, and an inverted image generating means that generates an inverted image by mirror-inverting the clear image that becomes effective by the image switching means.

[0030] The display display means has the function of displaying a clear image validated by an image conversion means and an inverted image generated by an inverted image generation means on the display.

[0031] Accordingly, training can be performed by moving the hand corresponding to the other imaging camera side, which is neutralized by the image switching means, while visually confirming the clear image and inverted image displayed on the display. That is, when training the paralyzed hand, first, using the mode setting means, the left-hand training mode is set if the right hand is healthy and the left hand is paralyzed, and the right-hand training mode is set if the right hand is paralyzed and the left hand is healthy. Then, when performing the training, the patient performs the exercise by moving the healthy hand and the paralyzed hand in the same way while visually confirming the clear image and inverted image displayed on the display. In this case, since the clear image of the healthy hand and its inverted image are displayed on the display, the patient sees an image that makes the paralyzed hand appear to move as smoothly as the healthy hand. This visual input stimulates the brain, and because the patient has the sensation that they are moving the paralyzed hand smoothly themselves, it creates a supportive effect for the movement of the paralyzed hand, thereby achieving a high rehabilitation effect.

[0032] Additionally, as needed, the exercise of the healthy hand and the paralyzed hand is a flexion movement from the MP joints of the four fingers other than the thumb.

[0033] The right movable part and the left movable part each have a support member installed on a base and supporting the little finger inside the four fingers while the four fingers are positioned in an up-and-down direction, a pair of contact plates erected on the support member and positioned on the outer and inner sides of the four fingers so that the four fingers come into contact with each other, and a rotation axis installed along an up-and-down direction on the lower side of the support member to rotate the support member relative to the base.

[0034] Therefore, the movement of the healthy and paralyzed hands involves the four fingers, excluding the thumb, bending at the MP joint, and can reliably support important movements of the paralyzed hand. On the healthy hand side, the medial contact plate is pressed when the four fingers are flexed medially at the MP joint, and the lateral contact plate is pressed when the four fingers are extended laterally at the MP joint. Meanwhile, on the paralyzed hand side, the hand is pushed flexed by the lateral contact plate and extended by the medial contact plate. This movement is, for example, a so-called grasping motion where the four fingers approach the thumb, and can promote the effect of enhancing motor ability to grasp using the thumb and index finger.

[0035] In this case, it is effective to install a wrist-side support member on the base, corresponding to the right movable part and the left movable part respectively, to support the wrist side of the hand with four fingers resting on the above-mentioned support member. Since the wrist side is supported, movements by the four fingers can be performed smoothly. Effects of the invention

[0036] According to the present invention, since one device can handle two modes of paralysis—where the left hand is paralyzed and the right hand is healthy, and where the right hand is paralyzed and the left hand is healthy—versatility can be improved. In addition, the movements of the healthy hand can be faithfully transmitted to the paralyzed hand, and the responsiveness is good, thereby improving performance and enhancing reliability. Brief explanation of the drawing

[0037] FIG. 1 is a perspective view showing a rehabilitation device in use according to an embodiment of the present invention. FIG. 2 is a perspective view showing a receiving box of a rehabilitation device according to an embodiment of the present invention. FIG. 3 is a perspective view showing the internal configuration of a receiving box of a rehabilitation device according to an embodiment of the present invention. FIG. 4 is a rear perspective view showing the internal configuration of a receiving box of a rehabilitation device according to an embodiment of the present invention. FIG. 5 is a perspective view of a main part showing a rotary electric motor mechanism of a movable part of a rehabilitation device according to an embodiment of the present invention. FIG. 6 is a plan view showing the state of the movable part when the left and right hands are bent (flexed) in a rehabilitation device according to an embodiment of the present invention. FIG. 7 is a plan view showing the state of the movable part when the left and right hands are extended in a rehabilitation device according to an embodiment of the present invention. FIG. 8 is a block diagram showing the configuration of the input unit and the control unit of a rehabilitation device according to an embodiment of the present invention. FIG. 9 is a block diagram showing the configuration of the main part of the control unit of a rehabilitation device according to an embodiment of the present invention. FIG. 10 is a block diagram showing the configuration of another main part of the control unit of a rehabilitation device according to an embodiment of the present invention. FIG. 11 is a drawing showing an example of setting the range of motion in a rehabilitation device according to an embodiment of the present invention. FIG. 12 is a graph showing an example of setting an upper limit speed in a rehabilitation device according to an embodiment of the present invention. FIG. 13 is a graph showing an example of setting an upper limit force in a rehabilitation device according to an embodiment of the present invention. FIG. 14 (a) is a drawing showing an example of a display in a rehabilitation device according to an embodiment of the present invention and showing the state when the left and right hands are bent (flexed). FIG. 14 (b) is a drawing showing an example of a display in a rehabilitation device according to an embodiment of the present invention and a state when the left and right hands are extended. FIG. 15 is a flowchart showing the control flow of the control unit of a rehabilitation device according to an embodiment of the present invention. Specific details for implementing the invention

[0038] Hereinafter, a rehabilitation device according to an embodiment of the present invention will be described in detail based on the attached drawings.

[0039] As illustrated in FIGS. 1 to 10, the rehabilitation device (S) according to an embodiment of the present invention is intended to train a paralyzed hand to move like a healthy hand when one of the left and right hands of a patient is a normal healthy hand and the other hand is a paralyzed hand that is not free. In the embodiment, the exercise of the healthy hand and the paralyzed hand is for the four fingers other than the thumb to bend from the MP joint. For example, this exercise is a gripping motion (oppositional movement) in which the four fingers come close to the thumb.

[0040] The rehabilitation device (S) is installed on a table (not shown) at a height where the patient can sit on a chair (not shown) and extend their front arm approximately parallel to the elbow of the healthy hand and the paralyzed hand without difficulty, and has a rectangular receiving box (1) in the shape of an unfolding box that accommodates the healthy hand and the paralyzed hand, and a display (2) installed on the receiving box (1) that the patient can see.

[0041] A support (3) is installed inside the receiving box (1). The support (3) is equipped with a right movable part (Ka) connected to the right hand (Ha) and a left movable part (Kb) connected to the left hand (Hb). The right movable part (Ka) and the left movable part (Kb) are each arranged in a mirror-symmetric positional relationship and are configured to support a supporting member (4) that supports the little finger inside the four fingers (excluding the thumb) while the four fingers are positioned in the up-and-down direction, a pair of contact plates (5) that are erected on the supporting member (4) and positioned on the outer and inner sides of the four fingers to make contact with these four fingers, and a pivot shaft (6) that supports the supporting member (4) so ​​as to be rotatable with respect to the support (3), with the supporting member (4) installed along the up-and-down direction on the lower side of the supporting member (4). In addition, on the support (3) on the opening side of the receiving box (1), a wrist side holding part (7) is installed corresponding to the right movable part (Ka) and the left movable part (Kb), respectively, and holds the wrist side of the hand holding the four fingers on the holding member (4).

[0042] Additionally, on the base (3), a right motor (Ma) that rotates the right movable part (Ka) by electric power and a left motor (Mb) that rotates the left movable part (Kb) by electric power are installed. Each motor can be configured with, for example, a servo motor or a stepping motor that does not lose step, to have the same performance. The right motor (Ma) is equipped with a right rotation angle detector (10a) consisting of an encoder that detects the rotation angle of the right motor (Ma). The left motor (Mb) is equipped with a left rotation angle detector (10b) consisting of an encoder that detects the rotation angle of the left motor (Mb). On the rear side of the base (3), a rotary electric power mechanism (11) is installed to transmit the rotation of each motor (Ma, Mb) to the corresponding movable parts (Ka, Kb). The rotary electric motor mechanism (11) consists of a main pulley (12) with a tooth profile installed on a motor shaft, a secondary pulley (13) with a tooth profile installed on a rotation shaft (6) of a movable part (Ka, Kb), and a rotary timing belt (14) that is run between the main pulley (12) and the secondary pulley (13) to transmit. In the embodiment, the rotation ratio is set to 1:1.

[0043] In addition, a right-hand imaging camera (15a) that captures the right hand (Ha) connected to the right movable part (Ka), a left-hand imaging camera (15b) that captures the left hand (Hb) connected to the left movable part (Kb), a right LED lamp (16a) that illuminates the right movable part (Ka) (Fig. 8), and a left LED lamp (16b) that illuminates the left movable part (Kb) (Fig. 8) are installed inside the receiving box (1). A control unit (40) that performs various controls based on input from the input unit (20) is installed in the receiving box (1).

[0044] As illustrated in FIGS. 2 and FIGS. 8, the input unit (20) is equipped with a mounting unit (22) in which an external memory (21) for storing control data is detachably mounted. The input unit (20) is equipped with switches, buttons, and volumes for performing various settings. These consist of a 'power switch (23)', a pair of 'emergency stop buttons (24)', a 'training start button (25)', a 'training end button (26)', a 'left paralysis / right paralysis switching switch (27)', a 'training mode / setting mode switching switch (28)', an 'angle limit volume (extension) (30)', an 'angle limit volume (flexion) (31)', a 'speed limit volume (32)', and a 'force limit volume (33)'. As shown in FIG. 2, the 'angle limit volume (extension) (30)', 'angle limit volume (bending) (31)', 'speed limit volume (32)' and 'force limit volume (33)' are realized as functions of the touch panel (34). These functions will be described later.

[0045] As shown in FIGS. 8 to 10, the control unit (40) is provided with a power control means (41) that controls the supply and stop of power from the AC adapter (35) to each part, including the right motor driving means (51a) and the left motor driving means (51b) described later, by turning the power switch (23) on and off. In addition, the control unit (40) is provided with an execution means (42) for setting these control conditions for various control means within the control unit (40) and executing the functions thereof. The 'training mode / setting mode switching switch (28)' of the input unit (20) executes a switching between a setting mode, which performs various settings from the input unit (20) to the execution means (42), and a training mode, which performs training by actually operating the device after setting. The 'training start button (25)' indicates the start of operation of the device in training mode. The 'training end button (26)' indicates the end of operation.

[0046] Additionally, the control unit (40) has a motor control means (50) for controlling the right motor (Ma) and the left motor (Mb). The motor control means (50) includes a right motor driving means (51a) that drives the right motor (Ma) when power is supplied, a left motor driving means (51b) that drives the left motor (Mb) when power is supplied, and a driving control means (52) that causes the right motor driving means (51a) and the left motor driving means (51b) to perform bilateral control. The driving control means (52) performs bilateral control by driving the other motor in a direction opposite to the rotation direction of the one motor, following the one motor rotated by the external force of the right hand (Ha) through the right movable part (Ka) when the right motor (Ma) is rotated by the external force of the right hand (Ha) or the left motor (Mb) is rotated by the external force of the left hand (Hb) through the left movable part (Kb).

[0047] In an embodiment, the drive control means (52) compares the rotation angle detected by the right rotation angle detector (10a) with the rotation angle detected by the left rotation angle detector (10b) for the right motor drive means (51a) and the left motor drive means (51b), and reverses the control of the motors so that the difference in rotation angles is reduced. That is, the drive control means (52) detects that one motor is rotated more than the other motor due to an external force while the right motor (Ma) and the left motor (Mb) are stopped or rotating, and causes the other motor to rotate.

[0048] Additionally, the execution means (42) includes a right movable angle range setting means (53a) for setting a right movable angle range based on the starting position of the right movable part (Ka) by input from the input unit (20), and a left movable angle range setting means (53b) for setting a left movable angle range based on the starting position of the left movable part (Kb) by input from the input unit (20). More specifically, in an embodiment as shown in FIG. 11, each movable part (Ka, Kb) is configured such that the rotational position (mechanical limit in the bending direction) of the movable part (Ka, Kb) with four fingers bent is set as the starting position (0°), and the angle range is set from this starting position to the rotational position (mechanical limit in the extension direction) of the movable part (Ka, Kb) with four fingers extended vertically by rotating 75°. Here, the movable part (Ka, Kb) is stopped by a stopper (not shown), and the mechanical limit refers to the stopping angle position. By operating the ‘angle limit volume (bending) (31)’ installed in the input unit (20), the angle from the starting point position in the bending position is set, and by operating the ‘angle limit volume (extension) (30)’, the angle from the starting point position in the extension position is set. For example, as shown in FIG. 11, when the left hand (Hb) is paralyzed and the right hand (Ha) is healthy, the angle of the paralyzed hand side of the left hand (Hb) is set to 25° (bending position) to 65° (extension position). The angle of the healthy hand side of the right hand (Ha) is set to 3° (bending position) to 70° (extension position). In addition, when power is turned on and the 'training end button (26)' is pressed, the motor control means (50) causes the right motor (Ma) and the left motor (Mb) to be positioned at the initial position and stopped by the right motor driving means (51a) and the left motor driving means (51b) so that the movable part (Ka, Kb) is positioned at the bending position.

[0049] The execution means (42) is equipped with a mode setting means (54) (Fig. 10) that performs a switching setting to one of two modes: a left-hand training mode when the right hand (Ha) is a healthy hand and the left hand (Hb) is a paralyzed hand, or a right-hand training mode when the right hand (Ha) is a paralyzed hand and the left hand (Hb) is a healthy hand, based on input from the 'left-hand paralysis / right-hand paralysis switching switch (27)' of the input unit (20). Accordingly, when the mode setting means (54) sets the left-hand training mode, the input to the right-hand movement angle range setting means (53a) becomes the right-hand movement angle range setting for the healthy hand side, and the input to the left-hand movement angle range setting means (53b) becomes the left-hand movement angle range setting for the paralyzed hand side. The right-hand movement angle range of the right-hand movement unit (Ka) does not need to be specifically set. Meanwhile, when the mode setting means (54) sets the right hand training mode, the input to the right articulation angle range setting means (53a) is set to the right articulation angle range on the paralyzed hand side, and the input to the left articulation angle range setting means (53b) is set to the left articulation angle range on the healthy hand side. The left articulation angle range of the left articulation part (Kb) does not need to be specially set.

[0050] Additionally, the control unit (40) has a memory means (55). The memory means (55) stores the right motor rotation angle range of the right motor (Ma) corresponding to the right operating angle range set by the right operating angle range setting means (53a), and the left motor rotation angle range of the left motor (Mb) corresponding to the left operating angle range set by the left operating angle range setting means (53b). In this case, since the rotation ratio of the motor (Ma, Mb) and the operating part (Ka, Kb) is 1:1 in the embodiment, the rotation angle range of the motor (Ma, Mb) becomes the same as the operating angle range of the operating part (Ka, Kb).

[0051] Additionally, the motor control means (50) is configured to include a right rotation angle limiting means (56a) that allows driving of the right motor Ma by the right motor driving means (51a) when the right rotation angle detected by the right rotation angle detector (10a) is within the right motor rotation angle range stored in the storage means (55), and limits driving of the right motor Ma by the right motor driving means (51a) when it becomes the upper or lower limit of the right motor rotation angle range stored in the storage means (55), and a left rotation angle limiting means (56b) that allows driving of the left motor (Mb) by the left motor driving means (51b) when the left rotation angle detected by the left rotation angle detector (10b) is within the left motor rotation angle range stored in the storage means (55), and limits driving of the left motor (Mb) by the left motor driving means (51b) when it becomes the upper or lower limit of the left motor rotation angle range stored in the storage means (55).

[0052] Additionally, the execution means (42) is equipped with a right upper limit speed setting means (57a) that sets the right upper limit speed, which is the upper limit of the rotational speed of the right movable part (Ka), by input from the 'speed limit volume (32)' of the input unit (20), and a left upper limit speed setting means (57b) that sets the left upper limit speed, which is the upper limit of the rotational speed of the left movable part (Kb), by input from the input unit (20). The memory means (55) of the control unit (40) stores the right motor upper limit speed of the right motor (Ma) corresponding to the right upper limit speed set by the right upper limit speed setting means (57a), and the left motor upper limit speed of the left motor (Mb) corresponding to the left upper limit speed set by the left upper limit speed setting means (57b). Specifically, as shown in FIG. 12, the upper limit speed setting performs an operation to make the upper limit of the motor's rated angular velocity (deg / sec) constant in the forward direction and the reverse direction, respectively.

[0053] The motor control means (50) includes a right rotational speed calculation means (58a) for calculating the rotational speed of the right motor (Ma) and a left rotational speed calculation means (58b) for calculating the rotational speed of the left motor (Mb). When the right rotational speed calculated by the right rotational speed calculation means (58a) does not reach the upper limit speed of the right motor stored in the memory means (55), the right rotational speed limiting means (59a) allows driving by the right motor (Ma) by the right motor driving means (51a), and when it exceeds the upper limit speed of the right motor stored in the memory means (55), it limits driving by the right motor (Ma) by the right motor driving means (51a). When the left rotational speed calculated by the left rotational speed calculation means (58b) does not reach the upper limit speed of the left motor stored in the memory means (55), it allows driving by the left motor driving means (51b), and when it exceeds the upper limit speed of the left motor stored in the memory means (55), it drives the left motor. It is equipped with a left rotation speed limiting means (59b) that limits the driving of the left motor (Mb) by means (51b).

[0054] When the mode setting means (54) sets the left-hand training mode, the input to the right upper speed limit setting means (57a) becomes the right upper speed limit setting for the healthy hand side, and the input to the left upper speed limit setting means (57b) becomes the left upper speed limit setting for the paralyzed hand side. The right upper speed limit of the right movable part (Ka) does not need to be specifically set. Meanwhile, when the mode setting means (54) sets the right-hand training mode, the input to the right upper speed limit setting means (57a) becomes the right upper speed limit setting for the paralyzed hand side, and the input to the left upper speed limit setting means (57b) becomes the left upper speed limit setting for the healthy hand side. The left upper speed limit of the left movable part (Kb) does not need to be specifically set.

[0055] Additionally, the execution means (42) is equipped with a right upper limit force setting means (60a) that sets the right upper limit force, which is the upper limit of the rotational force of the right movable part (Ka), by input from the 'force limit volume (33)' of the input unit (20), and a left upper limit force setting means (60b) that sets the left upper limit force, which is the upper limit of the rotational force of the left movable part (Kb), by input from the input unit (20). The memory means (55) stores the right motor upper limit load of the right motor (Ma) corresponding to the right upper limit force set by the right upper limit force setting means (60a), and the left motor upper limit load of the left motor (Mb) corresponding to the left upper limit force set by the left upper limit force setting means (60b). Specifically, in an embodiment as shown in FIG. 13, the upper limit current value is stored by limiting the upper limit of the rated current value of the motors (Ma, Mb) as the upper limit load. The current value as the load corresponds to the torque of the motor.

[0056] The motor control means (50) includes a right load calculation means (61a) for calculating the load (current value) of the right motor (Ma), a left load calculation means (61b) for calculating the load (current value) of the left motor (Mb), and a right rotational force limiting means (62a) that allows driving of the right motor (Ma) by the right motor driving means (51a) when the right load calculated by the right load calculation means (61a) does not reach the upper limit load of the right motor stored in the memory means (55), and limits driving of the right motor (Ma) by the right motor driving means (51a) when it exceeds the upper limit load of the right motor stored in the memory means (55), and allows driving of the left motor (Mb) by the left motor driving means (51b) when the left load calculated by the left load calculation means (61b) does not reach the upper limit load of the left motor stored in the memory means (55), and when it exceeds the upper limit load of the left motor stored in the memory means (55), drives the left motor It is equipped with a left rotational force limiting means (62b) that limits the driving of the left motor (Mb) by means (51b).

[0057] When the mode setting means (54) sets the left-hand training mode, the input to the right upper limit setting means (60a) becomes the right upper limit setting for the healthy hand side, and the input to the left upper limit setting means (60b) becomes the left upper limit setting for the paralyzed hand side. The right upper limit of the right movable part (Ka) does not need to be specially set. Meanwhile, when the mode setting means (54) sets the right-hand training mode, the input to the right upper limit setting means (60a) becomes the right upper limit setting for the paralyzed hand side, and the input to the left upper limit setting means (60b) becomes the left upper limit setting for the healthy hand side. The left upper limit of the left movable part (Kb) does not need to be specially set.

[0058] As illustrated in FIG. 8, the motor control means (50) has a controller (63) that is operated by a command from the execution means (42). The controller (63) includes functions performed by the drive control means (52), right rotation angle limiting means (56a), left rotation angle limiting means (56b), right rotation speed calculation means (58a), left rotation speed calculation means (58b), right rotation speed limiting means (59a), left rotation speed limiting means (59b), right load calculation means (61a), left load calculation means (61b), right rotation force limiting means (62a) and left rotation force limiting means (62b).

[0059] Additionally, the control unit (40) is equipped with a timer (not shown) that operates by the push button of the ‘training start button (25)’, and stops the operation of the right motor (Ma) and the left motor (Mb) to stop the training when the timer's set time arrives. The timer's set time is, for example, set to 3 minutes. Additionally, the control unit (40) is configured to have an emergency stop means (64) that transmits an abnormal signal by input from the ‘emergency stop button (24)’ of the input unit (20), and forcibly stops the operation of the right motor (Ma) and the left motor (Mb) through the power control means (41) based on this abnormal signal.

[0060] Additionally, the control unit (40) includes a lighting control means (65) for controlling the right LED lamp (16a) and the left LED lamp (16b) as shown in FIGS. 8 and 10, a camera control means (66) for controlling the right-hand imaging camera (15a) and the left-hand imaging camera (15b), and a display display means (67) for controlling the display of the display (2). The lighting control means (65) controls the illumination of the right LED lamp (16a) and the left LED lamp (16b). The lighting control means (65) lights up the right LED lamp (16a) and the left LED lamp (16b) and brightens the hands to make the images captured by the imaging cameras (15a, 15b) clear.

[0061] The camera control means (66) includes an image switching means (68) that enables image data from the right-hand imaging camera (15a) and disables image data from the left-hand imaging camera (15b) when the mode setting means (54) sets the left-hand training mode, while the mode setting means (54) disables image data from the right-hand imaging camera (15a) and enables image data from the left-hand imaging camera (15b) when the mode setting means (54) sets the right-hand training mode, and an inverted image generating means (69) that mirror-inverts the clear image enabled by the image switching means (68) to generate an inverted image.

[0062] As shown in FIG. 14(a) and FIG. 14(b), the display display means (67) has the function of displaying the original image and the inverted image generated by the inverted image generating means (69), which are made active by the image switching means (68), on the display (2). Accordingly, training is performed by moving the hand corresponding to the other imaging camera side that is disabled by the image switching means (68) while visually confirming the original image and the inverted image displayed on the display (2). The display display means (67) has the function of displaying an initial setting screen (not shown) when the setting mode is activated by the input of the 'training mode / setting mode switching switch (28)' of the input unit (20).

[0063] Accordingly, when a patient performs rehabilitation using a rehabilitation device (S) according to the embodiment, it is as follows. The 'power switch (23)' is turned on by the patient's assistant, etc., and the setting mode is activated by inputting the 'training mode / setting mode switching switch (28)' in advance, and an initial setting is performed. Here, the case of a patient in which the right hand (Ha) is a healthy hand and the left hand (Hb) is a paralyzed hand is described.

[0064] The left hand training mode is set by input from the 'left paralysis / right paralysis switching switch (27)' of the input unit (20). Then, the angle from the starting point position in the flexion position is set by operating the 'angle limit volume (flexion) (31)' installed in the input unit (20). The angle from the starting point position in the extension position is set by operating the 'angle limit volume (extension) (30)'. In this case, the input to the right articulation angle range setting means (53a) becomes the right articulation angle range setting for the healthy hand side (generally a large angle range), and the input to the left articulation angle range setting means (53b) becomes the left articulation angle range setting for the paralyzed hand side (generally a smaller angle range than the right). Accordingly, as illustrated in FIG. 11, the right motor rotation angle range of the right motor (Ma) corresponding to the right operating angle range set by the right operating angle range setting means (53a) and the left motor rotation angle range of the left motor (Mb) corresponding to the left operating angle range set by the left operating angle range setting means (53b) are stored in the storage means (55).

[0065] In addition, the right upper limit speed, which is the upper limit of the rotational speed of the right movable part (Ka), is set by input from the 'speed limit volume (32)' of the input unit (20), and the left upper limit speed, which is the upper limit of the rotational speed of the left movable part (Kb), is set. In this case, since the mode setting means (54) is set to the left hand training mode, the input to the right upper limit speed setting means (57a) is the right upper limit speed setting for the healthy hand side (generally a large upper limit speed), and the input to the left upper limit speed setting means (57b) is the left upper limit speed setting for the paralyzed hand side (generally a smaller upper limit speed than the right). As shown in FIG. 12, the right motor upper limit speed of the right motor (Ma) corresponding to the right upper limit speed and the left motor upper limit speed of the left motor (Mb) corresponding to the left upper limit speed set by the left upper limit speed setting means (57b) are set and stored in the memory means (55).

[0066] In addition, the right upper limit force, which is the upper limit of the rotational force of the right movable part (Ka), is set by input from the 'force limit volume (33)' of the input part (20), and the left upper limit force, which is the upper limit of the rotational force of the left movable part (Kb), is set. In this case, since the mode setting means (54) is set to the left hand training mode, the input to the right upper limit force setting means (60a) is the right upper limit force setting for the healthy hand side (generally a large upper limit force), and the input to the left upper limit force setting means (60b) is the left upper limit force setting for the paralyzed hand side (generally a smaller upper limit force than the right). As shown in FIG. 13, the right motor upper limit load of the right motor (Ma) corresponding to the right upper limit force set by the right upper limit force setting means (60a) and the left motor upper limit load of the left motor (Mb) corresponding to the left upper limit force set by the left upper limit force setting means (60b) are stored in the memory means (55).

[0067] When the setting is completed in the input section (20), it is switched to training mode by the 'training mode / setting mode switching switch (28)'. Then, as shown in FIG. 6, the right hand (Ha), which is the healthy hand, is placed on the support member (4) of the right movable section (Ka), and the left hand (Hb), which is the paralyzed hand, is placed on the support section of the left movable section (Kb). In this case, since the wrist side support section (7) supports the wrist side of the hand, the support of the four fingers is ensured.

[0068] Next, the control flow of the control means is explained with reference to the flowchart illustrated in FIG. 15. When the 'training start button (25)' is pressed, training begins. When training begins, the right LED lamp (16a) and the left LED lamp (16b) are illuminated by the lighting control means (65), and the image data of the right-hand imaging camera (15a) is made valid by the image switching means (68) of the camera control means (66), and an inverted image is generated by mirror-inverting the original image of the image data by the inverted image generating means (69). As shown in FIG. 14 (a) and FIG. 14 (b), the original image made valid according to the image switching means (68), the inverted image generated by the inverted image generating means (69), and the positions of the right hand (Ha) and the left hand (Hb) are displayed side by side on the display (2) by the display display means (67). (S1)

[0069] In addition, the drive control means (52) in the motor control means (50) detects rotation caused by an external force of the right motor (Ma) and the left motor (Mb). (S2) When the right motor (Ma) is rotated through the right movable part (Ka) by an external force of the right hand (Ha) or when the left motor (Mb) is rotated through the left movable part (Kb) by an external force of the left hand (Hb) (S2 Yes), the drive control means (52) performs bilateral control by driving the other motor in a direction opposite to the rotation direction of the one motor, following the one motor rotated by this external force. (S3)

[0070] Generally, since the movement of the movable part on the healthy hand side is smooth, the movable part on the paralyzed hand side moves according to the movement of the healthy hand side as shown in FIGS. 6 and 7. Therefore, the paralyzed hand of the left hand (Hb), which is linked to the left movable part (Kb), can be moved in the same way as the healthy hand of the right hand (Ha), which is linked to the right movable part (Ka). That is, if the right hand (Ha) is flexed to move the right movable part (Ka), the left hand (Hb) is also moved in the flexion direction by the left movable part (Kb). Also, if the right hand (Ha) is extended to move the right movable part (Ka), the left hand (Hb) is also moved in the extension direction by the left movable part (Kb). It is possible to repeat these movements. In this case, since the driving control means (52) performs bilateral control, the movement of the healthy hand can be faithfully transmitted to the paralyzed hand, and furthermore, since the responsiveness is good, performance can be improved compared to the conventional method and reliability can be improved.

[0071] In addition, training to move the hand can be performed while visually confirming the clear image and the inverted image displayed on the display (2). In this case, as shown in FIG. 14(a) and FIG. 14(b), the clear image and the inverted image of the healthy hand of the right hand (Ha) are displayed on the display (2), so the patient sees an image that the paralyzed hand of the left hand (Hb) appears to be moving smoothly, just like the healthy hand of the right hand (Ha). Therefore, this visual input stimulates the brain, giving the patient the sensation that they are moving the paralyzed hand smoothly, which in turn creates a supportive effect for the movement of the paralyzed hand, thereby achieving a high rehabilitation effect.

[0072] In the process of this bilateral control, the right rotation angle detector (10a) detects the rotation angle of the right motor (Ma), the left rotation angle detector (10b) detects the rotation angle of the left motor (Mb) (S4), and the right rotation angle limiting means (56a) performs driving by electric motor of the right motor (Ma) when the right rotation angle detected by the right rotation angle detector (10a) is within the right motor rotation angle range (S4 Yes), and limits driving by electric motor of the right motor (Ma) by the right motor driving means (51a) when it is within the upper or lower limit of the right motor rotation angle range (S4 No). (S5) Meanwhile, the left rotation angle limiting means (56b) drives the left motor (Mb) by electric power when the left rotation angle detected by the left rotation angle detector (10b) is within the left motor rotation angle range (S4 Yes), and limits the drive of the left motor (Mb) by electric power by the left motor driving means (51b) when it becomes the upper or lower limit of the left motor rotation angle range (S4 No). (S5)

[0073] Therefore, since the right motor (Ma) or left motor (Mb), which has limited drive, does not perform forced rotation by electric power, the movement of the right movable part (Ka) or left movable part (Kb) by electric power can be restricted, thereby suppressing excessive rotation. That is, in the case where the left hand (Hb) is a paralyzed hand and the right hand (Ha) is a healthy hand, if the right movable angle range on the healthy side of the right hand (Ha) is greater than the left movable angle range on the paralyzed side of the left hand (Hb), the right movable part (Ka) rotates beyond the angle range of the left movable part (Kb). However, since power is not applied to the left movable part (Kb) at the upper or lower limit of the left movable angle, it does not move forcibly. As a result, excessive movement of the paralyzed hand of the left hand (Hb) is prevented, thereby ensuring the safety of the paralyzed hand of the left hand (Hb).

[0074] In addition, during the process of this bilateral control, the right rotational speed calculation means (58a) calculates the rotational speed of the right motor (Ma), and the left rotational speed calculation means (58b) calculates the rotational speed of the left motor (Mb). The right rotational speed limiting means (59a) allows driving of the right motor (Ma) by the right motor driving means (51a) when the right rotational speed calculated by the right rotational speed calculation means (58a) does not reach the upper limit speed of the right motor (S6 No), and limits driving of the right motor (Ma) by the right motor driving means (51a) when it reaches the upper limit speed of the right motor (S6 Yes). (S7) Meanwhile, the left rotation speed limiting means (59b) allows driving of the left motor (Mb) by the left motor driving means (51b) when the left rotation speed calculated by the left rotation speed calculation means (58b) does not reach the left motor upper limit speed (S6 No), and limits driving of the left motor (Mb) by the left motor driving means (51b) when it reaches the left motor upper limit speed (S6 Yes). (S7)

[0075] Therefore, since the right motor (Ma) or left motor (Mb), which has limited drive, does not perform forced rotation by electric power, the movement of the right movable part (Ka) or left movable part (Kb) by electric power can be restricted, thereby suppressing excessive rotation. That is, in the case where the left hand (Hb) is a paralyzed hand and the right hand (Ha) is a healthy hand, if the upper speed limit on the right side of the healthy hand (Ha) is greater than the upper speed limit on the left side of the paralyzed hand (Hb), the right movable part (Ka) rotates beyond the upper speed limit on the left side of the left movable part (Kb). However, since the speed of the left movable part (Kb) does not increase beyond the upper speed limit on the left side, excessive movement of the paralyzed hand (Hb) is prevented, thereby ensuring the safety of the paralyzed hand (Hb).

[0076] In addition, during the process of this bilateral control, the right load calculation means (61a) calculates the load of the right motor (Ma), and the left load calculation means (61b) calculates the load of the left motor (Mb). The right rotational force limiting means (62a) allows driving of the right motor (Ma) by the right motor driving means (51a) when the right load calculated by the right load calculation means (61a) does not reach the upper limit load of the right motor (S8 No), and limits driving of the right motor (Ma) by the right motor driving means (51a) when it exceeds the upper limit load of the right motor (S8 Yes). (S9) Meanwhile, the left rotational force limiting means (62b) allows driving of the left motor (Mb) by the left motor driving means (51b) when the left load calculated by the left load calculation means (61b) does not reach the left motor upper limit load (S8 No), and limits driving of the left motor (Mb) by the left motor driving means (51b) when it exceeds the left motor upper limit load (S8 Yes). (S9)

[0077] Therefore, since the right motor (Ma) or left motor (Mb), which has limited drive, does not perform forced rotation by electric power, the movement of the right movable part (Ka) or left movable part (Kb) by electric power can be restricted, thereby suppressing excessive rotation. That is, in the case where the left hand (Hb) is a paralyzed hand and the right hand (Ha) is a healthy hand, if the upper limit force on the right side of the healthy hand (Ha) is greater than the upper limit force on the left side of the paralyzed hand (Hb), the right movable part (Ka) rotates beyond the upper limit force on the left side of the left movable part (Kb). However, since the left movable part (Kb) does not generate a force exceeding the upper limit force on the left side, excessive movement of the paralyzed hand (Hb) is prevented, thereby ensuring the safety of the paralyzed hand (Hb).

[0078] Training by such bilateral control can be performed until the timer's set time arrives or until the 'training end button (26)' is pressed. (S10 No) When the timer's set time arrives or the 'training end button (26)' is pressed, the training is terminated. (S10 Yes) Also, if any defect occurs during training, the 'emergency stop button (24)' is pressed. Thus, safety can be ensured because the driving of the right motor (Ma) and the left motor (Mb) is forcibly stopped through the power control means (41) by the emergency stop means (64).

[0079] Meanwhile, conversely to the above, in the case of a patient whose right hand (Ha) is paralyzed and whose left hand (Hb) is healthy, the right hand training mode is set by input from the 'left paralysis / right paralysis switching switch (27)' of the input unit (20). And, as above, the range of movement angles is set by operating the 'angle limit volume (flexion) (31)' and the 'angle limit volume (extension) (30)' so that the left and right conditions are reversed. The upper limit speed of the movable part (Ka, Kb) is set by input from the 'speed limit volume (32)'. The upper limit force of the rotational force of the movable part (Ka, Kb) is set by input from the 'force limit volume (33)'. Once the setting is completed in the input unit (20), it is switched to training mode by the 'training mode / setting mode switching switch (28)'. Then, the paralyzed right hand (Ha) is mounted on the support member (4) of the right movable part (Ka), and the healthy left hand (Hb) is mounted on the support part of the left movable part (Kb) to begin training. By doing so, training of the paralyzed right hand (Ha) can be performed in the same way as training of the paralyzed left hand (Hb), thereby producing the same action and effect as above.

[0080] That is, according to the rehabilitation device (S), when training a paralyzed hand, the patient has either a right hand (Ha) or a left hand (Hb), but links the right hand (Ha) to the right movable part (Ka) and links the left movable part (Kb) to the left hand (Hb) to move both hands equally. In this case, when the right motor (Ma) is rotated through the right movable part (Ka) by an external force of the right hand (Ha), or the left motor (Mb) is rotated through the left movable part (Kb) by an external force of the left hand (Hb), the drive control means (52) performs bilateral control by following the one motor rotated by the external force and similarly rotating the other motor by electric power in a direction opposite to the rotation direction of the one motor.

[0081] Generally, since the movement of the movable part on the healthy hand side is smooth, the movable part on the paralyzed hand side moves in accordance with the movement of the healthy hand side. Therefore, regardless of whether the right hand (Ha) or the left hand (Hb) is the paralyzed hand, the paralyzed hand can be moved just like the healthy hand. Thus, a single device can handle two modes of paralysis: when the left hand (Hb) is the paralyzed hand and the right hand (Ha) is the healthy hand, and when the right hand (Ha) is the paralyzed hand and the left hand (Hb) is the healthy hand, thereby improving versatility.

[0082] In addition, since the driving control means (52) performs bilateral control, it is possible to faithfully transmit the movement of a healthy hand to a paralyzed hand, and since the responsiveness is also good, performance can be improved compared to conventional methods and reliability can be improved.

[0083] In addition, in the above embodiment, each motor (Ma, Mb) is configured to perform rotational transmission to the movable part (Ka, Kb) through a rotary transmission mechanism (11) having a timing belt (14), but it is not necessarily limited to this; it may be configured with a gear transmission mechanism, and the rotation ratio may be appropriately determined, and there is no difference even if it is appropriately changed. In addition, each motor (Ma, Mb) may be configured to be directly connected to the movable part (Ka, Kb). In addition, the movable part (Ka, Kb) is configured to correspond to the bending motion from the MP joint of the four fingers other than the thumb, but it is not necessarily limited to this; it may be configured to correspond to bending from other joints, and there is no difference even if it is appropriately changed. In addition, the configuration of the input part (20) and the control part (40) is not limited to the configuration described above, and there is no difference even if it is appropriately changed. In short, the present invention is not limited to the above-described embodiment of the present invention, and those skilled in the art can easily add many modifications to these exemplary embodiments without substantially departing from the novel teachings and effects of the present invention, and such many modifications are included within the scope of the present invention.

[0084] All contents of the literature described in this specification and the Japanese application specification forming the basis of the Paris priority of this application are incorporated herein by reference. Explanation of the symbols

[0085] S rehabilitation device Ha right hand Hb left hand 1 receiving box 2 displays 3 expectations Ka right movable part Kb left movable part 4 Ji Seung Absence 5 contact plates 6 pivot shafts 7. Wrist-side retaining part Ma right motor Mb left motor 10a Right rotation angle detector 10b Left rotation angle detector 11 rotary electric motor 12-week full 13-Type Pulley 14 timing belt 15a Right-hand imaging camera 15b Left-handed imaging camera 16a Right LED lamp 16b Left LED Lamp 20 Input section 21 External Memory 22 Mounting part 23 Power switch 24 Emergency Stop Button 25 Start Training Button 26 End Training Button 27 Left-sided / Right-sided Paralysis Switch 28 Training Mode / Setting Mode Switch 30 Angle Limit Volume (Extension) 31 Angle Limit Volume (Curve) 32 rate-limited volumes 33 Power Limit Volume 34 touch panel 35 AC adapter 40 control unit 41 Power control means 42 Means of Execution 50 motor control means 51a Right motor driving means 51b Left motor driving means 52 Driving control means 53a Means for setting the right operating angle range 53b Means for setting the left operating angle range 54 Mode Setting Methods 55 Memory Means 56a Right rotation angle limiting means 56b Left rotation angle limiting means 57a Right upper speed limit setting means 57b Left upper speed limit setting means 58a Means for calculating right rotational speed 58b Means of calculating left rotation speed 59a Right rotation speed limiting means 59b Left rotation speed limiting means 60a Right upper limit force setting means 60b Left upper limit setting means 61a Right-side load calculation means 61b Left-side load calculation means 62a Right rotational force limiting means 62b Left rotational force limiting means 63 controller 64 Emergency Stop Means 65 Lighting control means 66 Camera control means 67 Display display means 68 Image switching means 69 Means for generating an inverted image

Claims

Claim 1 A rehabilitation device for performing training to move a paralyzed hand in the same way as a healthy hand when one hand is a normal, healthy hand and the other hand is paralyzed and incapacitated. The device comprises a right movable part connected to the right hand, a left movable part connected to the left hand, a right motor that rotates the right movable part by electric power, a left motor that rotates the left movable part by electric power, a right-hand imaging camera that captures the right hand connected to the right movable part, a left-hand imaging camera that captures the left hand connected to the left movable part, a display, and a control unit having motor control means for controlling the right motor and the left motor. The motor control means comprises a right motor driving means for driving the right motor and a left motor driving means for driving the left motor, and bilateral control that, when the right motor is rotated through the right movable part by an external force of the right hand or the left motor is rotated through the left movable part by an external force of the left hand, causes the other motor to follow the one motor rotated by the external force and rotate it by electric power in a direction opposite to the rotation direction of the one motor. The control unit comprises a motor driving means and a driving control means for causing the left motor driving means to perform, and the control unit comprises a camera control means for controlling the right-hand imaging camera and the left-hand imaging camera, a display display means for controlling the display display, and a mode setting means for switching to one of a left-hand training mode when the right hand is a healthy hand and the left hand is a paralyzed hand, and a right-hand training mode when the right hand is a paralyzed hand and the left hand is a healthy hand, based on input from an input unit, and the camera control means enables the imaging data from the right-hand imaging camera and disables the imaging data from the left-hand imaging camera when the mode setting means sets the left-hand training mode, whileA rehabilitation device characterized by comprising: an image switching means that invalidates image data from the right-hand imaging camera and enables image data from the left-hand imaging camera when the mode setting means sets a right-hand training mode; and an inverted image generating means that generates an inverted image by mirror-inverting the clear image that becomes effective by the image switching means; and a display means having a function to display the clear image that becomes effective by the image switching means and the inverted image generated by the inverted image generating means on the display. Claim 2 A rehabilitation device according to claim 1, comprising a right-turn angle detector for detecting the rotation angle of the right motor and a left-turn angle detector for detecting the rotation angle of the left motor, wherein the drive control means performs control with respect to the right motor drive means and the left motor drive means based on the rotation angle detected by the right-turn angle detector and the rotation angle detected by the left-turn angle detector. Claim 3 In paragraph 2, the control unit comprises a right operating angle range setting means for setting a right operating angle range based on the starting position of the right operating part by means of an input from the input unit, a left operating angle range setting means for setting a left operating angle range based on the starting position of the left operating part by means of an input from the input unit, a right motor rotation angle range of the right motor corresponding to the right operating angle range set by the right operating angle range setting means, and a memory means for storing a left motor rotation angle range of the left motor corresponding to the left operating angle range set by the left operating angle range setting means, and the motor control means comprises a right rotation angle limiting means for allowing driving by electric motor of the right motor by the right motor driving means when the right rotation angle detected by the right rotation angle detector is within the right motor rotation angle range stored in the memory means, and limiting driving by electric motor of the right motor by the right motor driving means when the right motor rotation angle detected by the left rotation angle detector is within the left motor rotation angle range stored in the memory means, and the left motor driving A rehabilitation device characterized by having a left rotation angle limiting means that allows driving by electric power of the left motor by means of means, and limits driving by electric power of the left motor by means of left motor driving means when the upper or lower limit of the left motor rotation angle range stored in the memory means is reached. Claim 4 In any one of claims 1 to 3, the control unit comprises a right upper limit speed setting means for setting a right upper limit speed, which is an upper limit of the rotational speed of the right movable part, by means of input from the input unit; a left upper limit speed setting means for setting a left upper limit speed, which is an upper limit of the rotational speed of the left movable part, by means of input from the input unit; a right motor upper limit speed of the right motor corresponding to the right upper limit speed set by the right upper limit speed setting means; and a left motor upper limit speed of the left motor corresponding to the left upper limit speed set by the left upper limit speed setting means. The motor control means comprises a right rotational speed calculation means for calculating the rotational speed of the right motor; a left rotational speed calculation means for calculating the rotational speed of the left motor; and a right rotational speed that allows driving by electric motor of the right motor by the right motor driving means when the right rotational speed calculated by the right rotational speed calculation means does not reach the right motor upper limit speed stored in the memory means, and restricts driving by electric motor of the right motor by the right motor driving means when it exceeds the right motor upper limit speed stored in the memory means. A rehabilitation device characterized by having a left rotation speed limiting means that allows driving of the left motor by the left motor driving means when the left rotation speed calculated by the limiting means and the left rotation speed calculation means does not reach the upper limit speed of the left motor stored in the memory means, and limits driving of the left motor by the left motor driving means when the left rotation speed is greater than the upper limit speed of the left motor stored in the memory means. Claim 5 In any one of claims 1 to 3, the control unit comprises a right upper limit force setting means for setting a right upper limit force, which is an upper limit of the rotational force of the right movable part, by means of input from the input unit, a left upper limit force setting means for setting a left upper limit force, which is an upper limit of the rotational force of the left movable part, by means of input from the input unit, and a storage means for storing a right motor upper limit load of the right motor corresponding to the right upper limit force set by the right upper limit force setting means, and a left motor upper limit load of the left motor corresponding to the left upper limit force set by the left upper limit force setting means; and the motor control means comprises a right load calculation means for calculating the load of the right motor, a left load calculation means for calculating the load of the left motor, and a right rotational force limiting means that allows driving by electric motor of the right motor by the right motor driving means when the right load calculated by the right load calculation means does not reach the right motor upper limit load stored in the storage means, and limits driving by electric motor of the right motor by the right motor driving means when it exceeds the right motor upper limit load stored in the storage means. A rehabilitation device characterized by having a left rotational force limiting means that allows driving of the left motor by the left motor driving means when the left load calculated by the means and the left load calculation means does not reach the left motor upper limit load stored in the memory means, and limits driving of the left motor by the left motor driving means when the left load is greater than the left motor upper limit load stored in the memory means. Claim 6 A rehabilitation device according to any one of claims 1 to 3, wherein the control unit comprises an emergency stop means for forcibly stopping the operation of the right motor and the left motor based on an abnormal signal. Claim 7 A rehabilitation device characterized in that, in any one of claims 1 to 3, the movement of the healthy hand and the paralyzed hand is a bending motion from the MP joints of the four fingers excluding the thumb, and the device comprises a supporting member that supports the little finger while the four fingers are positioned in an up-and-down direction and the right movable part and the left movable part are each installed on a support member, a pair of contact plates that are erected on the supporting member and positioned on the outer and inner sides of the four fingers so that the four fingers come into contact with each other, and a pivot axis installed on the lower side of the supporting member along an up-and-down direction to rotate the supporting member relative to the support member. Claim 8 A rehabilitation device characterized in that, in claim 7, a wrist side retaining member is installed on the above-mentioned support member corresponding to the right movable part and the left movable part, respectively, and the wrist side retaining member retains the wrist side of the hand with four fingers on it. Claim 9 delete

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