Development of the Force Display Device and Control System for Rehabilitation of Muscle-disabled Person

本研究旨在开发具有力觉显示功能的握力障碍者复健系统及其控制系统。该系统由直流电动机、齿轮减速机、旋转编码器和微机测控等组成，通过直流电动机将手指的压力和总握力作为力矩输出。它具有以下特点：（1）通过把持杠杆，将把持力变为转矩，将负载转矩作为电动机的反作用力任意地施加到安装在杠杆上的轴上。（2）通过使用小型压缩型测力传感器，不仅可以测量总扭矩，还可以测量每个手指（五个手指）的加压力。(3)A旋转编码器检测杠杆的握持角度，（4）CG图像与握持角度对应的变化给人以动力和快乐，而不是枯燥的康复。（5）抓地力下降的情况（肌肉疲劳） ...更多信息 也可以使用该设备测量人。对关西医科大学医学部附属医院康复中心的医生、职业治疗师和实验对象进行了调查，以了解他们对该康复系统的用户友好性和功能的看法。获得了能够自由地执行反作用力的调节的评价。然而，通过调查问卷也获得了对康复系统的以下负面意见。（1）设备尺寸太大，价格太贵。（2）不需要杠杆夹持。（3）设备缺乏用户友好性。（4）设备作为机器的形象太强。(5)CG对实验对象没有足够的影响。因此，优先考虑改善该设备，开发对患者温和的抓握康复系统，并与该康复中心的医生合作，完成了使用空气压力的康复系统的原型模型。新开发的康复系统包括两个柔性球，泵，压力表，A/D转换器，笔记本电脑等，它已经收到了非常好的反应，从病人和职业治疗师，和病人的抓地力的数据也可以收集和记录现在的新系统。少

In this research, development of the rehabilitation system with force display function and its control system for grip-disabled person was performed. This system consists of combination of DC motor, a gear slowdown machine, a rotary encoder and the personal computer for measurement/control, etc. The pressurized force and the total grip force of each finger (five fingers) can be directed as torque by the DC motor. It has following features : (1)The grip force is changed to torque by gripping the lever, and load torque is given arbitrarily to the axis attached the lever as the reaction force of the motor. (2)Not only the total torque but also the pressurization force of each finger (five fingers) can be measured by using small compression type load cells. (3)A rotary encoder detects the grip angle of a lever, and (4)CG picture changes corresponding to the grip angle gives motivation and pleasure instead of boring rehabilitation. (5)The situation (muscle fatigue) of a grip fall of a healt … More hy person can be measured too using this equipment. Doctors, occupational therapists, the experimental subjects at the Rehabilitation Center of Kansai Medical University Medical School Hospital were investigated for the opinion about the user-friendliness and the function of this rehabilitation system. Evaluation of being able to perform adjustment of reaction force freely was obtained. Following negative opinions about the rehabilitation system, however, were also obtained through the questionnaire. (1)The device is too large in size and too expensive. (2)Lever gripping cannot be necessary. (3)The device lacks in user-friendliness. (4)The device has too strong image as a machine. (5)CG does not have enough have impact to the experimental subjects. Consequently, priority was given over improvement of this equipment to development of the grip rehabilitation system gentle to a patient, and the prototype model of rehabilitation system using air pressure was completed as the collaboration stuck to the medical spot with the doctor of this rehabilitation center. The newly developed rehabilitation system consists of two flexible balls, pumps, a pressure gauge, an A/D converter, a note PC, etc. It has been received extremely good reaction from patients and occupational therapists, and the data of a patient's grip can also be collected and recorded now by the new system. Less