HEMIPLEGIA EXERCISE FUNCTION RECOVERY TRAINING DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a hemiplegia exercise function recovery training device and a program capable of performing efficient rehabilitation with a simple structure.SOLUTION: A hemiplegia exercise function recovery training device 100 is used for performing bending and stretching of joints connected by a biarticular muscle out of joints forming superior limbs or inferior limbs of a patient who suffers from hemiplegia. The hemiplegia exercise function recovery training device 100 comprises a bending and stretching mechanism for performing a first training for stretching a first joint which is disposed near a trunk out of joints connected by the biarticular muscle, and bending a second joint which is disposed on a distal position of the trunk, namely a passive training, and a second training for bending the first joint and stretching the second joint, namely a training of a voluntary movement, with repetition. The bending and stretching mechanism executes resistance accompanying type cooperation control for applying resistance force to force for bending the first joint, and applying assist force toward a direction equal to a direction of force for bending the first joint, in execution of the second training, and stops the resistance accompanying type cooperation control in execution of the first training.SELECTED DRAWING: Figure 10