JP7470968B2 - Training device for meal assistance or care - Google Patents

Description

Article 30, paragraph 2 of the Patent Act applies (1) [Website posting date] July 5, 2019 [Website address] https://www. jstage. jst. go. jp/article/ijat/13/4/13＿499/＿article/-char/ja (2) [Publication date] July 5, 2019 [Publication] International Journal of Automation Technology, Vol. 13, No. 4, p499-505, Fuji Technology Publishing (3) [Date] August 4, 2019 [Meeting name, venue] 17th Japan Oral Care Association Academic Conference, National University Corporation Asahikawa Medical University, Nursing Department Building (1-1-1 Midorigaoka Higashi 2-jo, Asahikawa City) (4) [Publication date] August 12, 2019 [Publication] Community Caring August 2019 issue, Vol. 21, No. 9, p59-61, Hokuryokan Co., Ltd. (5) [Date] September 14, 2019 [Meeting name, location] Japan Oral Nursing Research Association 6th Hokkaido Regional Seminar, Faculty of Nursing, Public University Corporation, Sapporo City University (13-chome, Kita 11-jo Nishi, Chuo-ku, Sapporo) (6) [Publication date] November 8, 2019 [Publication] Proceedings of the 62nd Joint Conference on Automatic Control, PDF, 1K3-03, Japan Society of Mechanical Engineers (7) [Date] November 8, 2019 [Meeting name, location] 62nd Joint Conference on Automatic Control, Sapporo Convention Center (1-1-1 Higashisapporo 6-jo, Shiroishi-ku, Sapporo) (8) [Website publication date] March 3, 2020 [Website address] https://shingi. jst. go. jp/list/iryo/2019_iryo. html

The present invention relates to a training device for meal care or assistance.

One example of a training device for meal care or assistance is the device in Patent Document 1. In the device in Patent Document 1, an oral cavity reproduction model is used in which pressure sensors are provided in areas corresponding to the lips and tongue for training in oral care (spoon technique, etc.). Then, with regard to the oral care training carried out on the oral cavity reproduction model, an evaluation is made as to whether the oral care steps were carried out in the appropriate order during the training, based on the detection results of the pressure sensors.

JP 2018-173504 A

As described above, the device in Patent Document 1 evaluates oral care such as spoon technique from the perspective of the order of steps. However, there is a demand for a device that can evaluate from multiple perspectives, including whether or not eating utensils such as spoons have been used appropriately.

The object of the present invention is to provide a training device for meal care or assistance that can comprehensively evaluate whether or not eating utensils such as spoons are being used appropriately.

The meal care or assistance training device of the present invention comprises a tongue reproduction model made of an elastic member reproducing a tongue, a plurality of sensors provided on the tongue reproduction model, the plurality of sensors being at least one of a deformation degree sensor for detecting the degree of deformation of the tongue reproduction model and a pressure sensor for detecting the pressure applied to the tongue reproduction model, and an evaluation means for evaluating the position and contact force of an eating utensil that comes into contact with the tongue reproduction model based on the detection results of the plurality of sensors when the eating utensil comes into contact with the tongue reproduction model.

According to the meal care or assistance training device of the present invention, a tongue reproduction model is provided with multiple sensors, and the usage status of the tool is evaluated based on the tool position and contact force indicated by the detection results of these sensors. Therefore, whether the tool is being used appropriately when it is brought into contact with the model can be appropriately evaluated from multiple perspectives, such as the tool position and contact force. The tool position that is the subject of such evaluation may be the tool's contact position on the surface of the model, or the tool's posture when it comes into contact with the model (e.g., its inclination relative to the model). In addition, both the contact position and posture may be subject to evaluation.

In the present invention, it is preferable that the plurality of sensors include three sensors that are not arranged in a straight line, and the evaluation means evaluates the position of the instrument based on the difference between the detection values of the three sensors when the instrument contacts a reference position on the tongue reproduction model. According to this, at least three sensors are provided on the tongue reproduction model, and these sensors are not arranged in a straight line. If these sensors were arranged in a straight line, it would be difficult to distinguish, based on the detection results of the sensors, between a case where the instrument contacts one of two points symmetrical with respect to the straight line and a case where the instrument contacts the other. In contrast, since the sensors are not arranged in a straight line as described above, it is easy to appropriately evaluate the position of the instrument.

In addition, in the present invention, it is preferable that the tongue reproduction model has a contact side recess that is a recess formed on the surface with which the tool comes into contact, and the multiple sensors include the pressure sensor arranged at a position corresponding to the recess. In this way, by forming the contact side recess so as to reproduce the tongue recess, which is the appropriate contact position, it is possible for the trainee to learn the appropriate contact position of the tool.

In the present invention, it is preferable that the tongue reproduction model has an opposite side recess, which is a recess formed on the surface opposite to the surface with which the tool contacts, a protrusion is formed in the opposite side recess, and the plurality of sensors includes a sensor that faces the protrusion as the pressure sensor and detects the pressure acting from the protrusion when the tool is pressed against the tongue reproduction model. According to this, the pressure sensor is provided on the surface (back side) opposite to the surface (front side) with which the tool contacts. Therefore, when the tool is brought into contact with the model, the sensor does not come into direct contact with the tool, so that the trainee can easily appropriately reproduce the sensation of the tool contacting the tongue. On the other hand, it is also considered that the sensor being provided on the back side of the model makes it difficult for the sensor to appropriately detect the pressure applied by the tool to the model. However, according to the above-mentioned configuration, the protrusion provided on the back side of the model applies pressure to the sensor, which is detected by the sensor. Therefore, the pressure of the tool being pressed against the model is easily transmitted to the sensor, and the sensor can easily appropriately detect the pressure.

In the present invention, it is preferable that the tongue reproduction model has an opposite side recess, which is a recess formed on the surface opposite to the surface with which the tool contacts, another recess is formed within the opposite side recess, and the plurality of sensors includes a sensor that faces the other recess and detects the distance to the inner surface of the other recess as the deformation degree sensor. According to this, the deformation degree sensor is provided on the surface (back side) opposite to the surface (front side) with which the tool contacts. Therefore, when the tool is brought into contact with the model, the sensor does not directly contact the tool, so that the trainee's sensation of the tool contacting the tongue is easily reproduced. On the other hand, it is also considered that the sensor is provided on the back side of the model, making it difficult for the sensor to properly detect the degree to which the tool deforms the model. However, according to the above configuration, the opposite side recess can be configured so that the fluctuation of the inner surface of the opposite side recess falls within a range that the sensor can easily capture. Therefore, it becomes easier for the sensor to properly detect the degree of deformation of the model.

1 is a schematic diagram of a training device for meal care or assistance according to an embodiment of the present invention; FIG. 2 is a view of a tongue model provided in the training device of FIG. 1 as seen from the front side. 2 is a rear view of a tongue model provided in the training device of FIG. 1. FIG. FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 3 is a cross-sectional view taken along line VV in FIG. 2. 2 is a view of a sensor unit attached to a tongue model provided in the training device of FIG. 1, viewed from the front side of the tongue model. FIG. FIG. 2 is a diagram showing a position where a load was applied in a first experimental example using a tongue model provided in the training device of FIG. 1. FIG. 2 is a diagram showing the situation of a second experimental example using a lip model used in the training device of FIG. 1. 13 is a graph showing the results of a second experimental example. 13 is a graph showing another result of the second experimental example.

Hereinafter, a training device 1 for meal care or assistance according to an embodiment of the present invention will be described with reference to Figs. 1 to 10. The training device 1 is used to train a trainee in meal care or assistance using eating utensils such as a spoon and a fork. As shown in Fig. 1, the training device 1 includes a head model 10 that reproduces the head of a care recipient and a control unit 200 (evaluation means in the present invention) connected to the head model 10. The head model 10 includes an upper jaw 11, a lower jaw 12, a temporomandibular joint 13, a servo motor 14, and a tongue model 100 (tongue reproduction model in the present invention). The lower jaw 12 is attached to the upper jaw 11 via the temporomandibular joint 13 so as to be able to open and close. The servo motor 14 opens and closes the lower jaw 12 relative to the upper jaw 11. The tongue model 100 is sandwiched between the upper jaw 11 and the lower jaw 12. When the lower jaw 12 is in a closed position relative to the upper jaw 11, the tongue model 100 is housed between the upper jaw 11 and the lower jaw 12. When the lower jaw 12 is in an open position relative to the upper jaw 11 (position shown in FIG. 1), the tongue model 100 is exposed to the outside (state shown in FIG. 1). As described below, the tongue model 100 is provided with a plurality of sensors that detect the contact state of eating utensils. The control unit 200 includes a computer that performs a control process for controlling the servo motor 14, and an evaluation process for evaluating whether or not the eating utensils have been used appropriately based on detection signals from the sensors provided in the tongue model 100. The computer
Hardware such as a central processing unit (PU) executes various types of information processing such as arithmetic processing, input/output processing, etc. in accordance with the software, whereby the control unit 200 executes the above-mentioned control processing and evaluation processing.

In this embodiment, as described above, the sensor of the tongue model 100 is used to evaluate whether or not the eating utensil has been used appropriately. However, in addition to the tongue model 100, a lip model 300 may be provided on the head model 10, and a sensor (for example, the sensor unit 310 in the second experimental example described below) may be provided on this lip model. The lip model 300 is fixed to the head model 10 so as to be positioned in front of the teeth via a fixing part 19 provided in front of the upper jaw 11. In this case, whether or not the utensil has been used appropriately can be evaluated based not only on the contact state of the utensil with the tongue model 100, but also on the contact state of the utensil with the lip model.

Next, the tongue model 100 will be described in more detail. In the following description of the tongue model 100, the upper jaw 11 side is the front side, and the lower jaw 12 side is the back side. The surface of the tongue model 100 shown in FIG. 2 is the front side, and the surface of the tongue model 100 shown in FIG. 3 is the back side. In the following description, the description of the shape of the recesses formed in the tongue model 100 will refer to the shape (planar shape) in FIG. 2 or FIG. 3, unless otherwise specified regarding the three-dimensional shape. The tongue model 100 is a model that reproduces the tongue of the human body, and is made of an elastic member made of synthetic resin such as silicone. As shown in FIG. 2 and FIG. 3, the tongue model 100 has a three-dimensional shape that is approximately symmetrical with respect to a plane C along the direction connecting the tip and base of the tongue (hereinafter referred to as the "vertical direction"). As shown in FIG. 2 to FIG. 4, the tongue model 100 has a main body part 101 that reflects the three-dimensional shape of the tongue, and a fixing part 102 that is connected to the end of the main body part 101 on the tongue base side. The fixed part 102 is fixed to the jaw joint part 13.

2, 4 and 5, an elliptical recess 100a (contact side recess in the present invention) is formed on the front surface of the tongue model 100, straddling the main body 101 and the fixed part 102. The recess 100a is formed to have a three-dimensional shape with a shallow bowl-shaped inner surface. The deepest point of the recess 100a, which is the deepest from the front surface, corresponds to the appropriate position 100b (hereinafter referred to as the appropriate utensil position 100b) where the eating utensil should be placed. As shown in FIGS. 3, 4 and 5, a recess 111 having an outline similar to that of the tongue model 100 is formed on the back surface of the tongue model 100, straddling both the main body 101 and the fixed part 102. As shown in FIG. 3, a trapezoidal recess 112 (opposite side recess in the present invention) is formed in the area of the main body 101 side in the recess 111. One circular protrusion 121 and two circular recesses 122 are formed in the recess 112. The protrusion 121 protrudes from the inner surface of the recess 112 toward the lower jaw 12. The protrusion 121 is located slightly toward the base of the tongue from the center of the recess 112 in the vertical direction. The two recesses 122 are located symmetrically with each other with respect to the plane C near the end of the recess 112 on the tip side of the tongue. One circular recess 123 is formed at the end of the recess 112 on the base side of the tongue. The recess 123 is located on the intersection line between the plane C and the surface of the tongue model 100. As shown in Figures 4 and 5, the recesses 111, 112, 122, and 123 are deeper in the order of recess 111 → recess 112 → recess 122 (123) in terms of depth from the back surface of the tongue model 100. The depth of the recess 122 and the depth of the recess 123 are equal.

The sensor unit 130 shown in FIG. 6 is fixed to the back surface of the tongue model 100. The sensor unit 130 has a substrate 131 and a pressure sensor 132 and deformation degree sensors 133 to 135 fixed to one surface of the substrate 131. The sensor unit 130 has an outer shape that is roughly similar to the outer shape of the recess 111 and slightly smaller than it. The sensor unit 130 is fitted into the recess 111 so that the surface of the substrate 131 to which the above sensors are fixed faces the inner surface of the recess 111. In this state, as shown in FIGS. 4 to 6, the pressure sensor 132 faces the protrusion 121, the deformation degree sensors 133 and 134 face the two recesses 122, and the deformation degree sensor 135 faces the recess 123. The deformation degree sensors 133 to 135 are arranged at the vertices of an isosceles triangle that includes the pressure sensor 132 inside. In other words, these sensors are not arranged in a straight line.

The pressure sensor 132 is a capacitance type sensor that detects the contact pressure when the protrusion 121 comes into contact with it. Each of the deformation degree sensors 133 to 135 is a distance sensor having a light emitting element and a light receiving element. When the light emitting element emits light, the light hits an object and is reflected, and the reflected light is received by the light receiving element. The distance from the sensor to the object can be detected based on the flight time of this light. Based on this, the deformation degree sensors 133 and 134 detect the distance to the inner surface of the recess 122 facing them. The deformation degree sensor 135 detects the distance to the inner surface of the recess 123 facing them. Signals indicating the detection results of the pressure sensor 132 and the deformation degree sensors 133 to 135 are transmitted from these sensors to the control unit 200. For example, the signals from these sensors are voltage signals, and the voltage value indicates the pressure or distance detected by these sensors. Each recess 122 is adjusted so that the deformation degree sensors 133 and 134 can easily detect changes occurring on the inner surface of the recess 122, and the recess 123 is adjusted so that the deformation degree sensor 135 can easily detect changes occurring on the inner surface of the recess 123. In other words, the distances from the deformation degree sensors 133 and 134 to the inner surface of the recess 122, and the distance from the deformation degree sensor 135 to the inner surface of the recess 123 are adjusted to ranges suitable for detection by these sensors.

Next, the process executed by the control unit 200 in the training of meal care or assistance using the training device 1 will be described. When training starts, the control unit 200 controls the servo motor 14 to drive the lower jaw 12 from a state in which the lower jaw 12 is in a closed position relative to the upper jaw 11 to a state in which the lower jaw 12 is open relative to the upper jaw 11. This exposes the tongue model 100 to the outside of the training device 1. In response to this, the trainee places eating utensils such as a spoon or fork on the tongue model 100. At this time, the tongue model 100 is deformed by the eating utensils being pressed against it. This causes the protrusion 121 to apply pressure to the pressure sensor 132, and the distance between the recess 122 and the deformation degree sensors 133 and 134, as well as the distance between the recess 123 and the deformation degree sensor 135, changes. The pressure and distance changes are detected by the pressure sensor 132 and the deformation degree sensors 133 to 135, and a signal indicating the detection result is transmitted to the control unit 200. Based on this signal, the control unit 200 evaluates how far the contact position of the eating utensil has deviated from the appropriate utensil position 100b (the reference position in this invention) shown in Figure 2.

Specifically, the control unit 200 holds reference values for the pressure sensor 132 and the deformation degree sensors 133-135 (hereinafter referred to as the "four sensors") when the instrument contacts the appropriate instrument position 100b. The control unit 200 then compares the detection values of each of the four sensors with the reference values, thereby evaluating the instrument contact position. For example, suppose that the detection results of the deformation degree sensors 133 and 134 indicate a greater degree of deformation compared to when the instrument contacts the appropriate instrument position 100b, and that the detection results of the pressure sensor 132 and the deformation degree sensor 135 indicate a smaller degree of deformation compared to when the instrument contacts the appropriate instrument position 100b. In this case, the instrument contact position is evaluated to be shifted toward the tip of the tongue from the appropriate instrument position 100b. This is because the detection results of each sensor showed that the degree of deformation was greater in the deformation degree sensors 133 and 134, which are located closer to the tip of the tongue than the appropriate instrument position 100b, and that the degree of deformation was smaller in the deformation degree sensor 135, which is located closer to the base of the tongue than the appropriate instrument position 100b. In addition, the magnitude of the deviation between the instrument contact position and the appropriate instrument position 100b is evaluated according to the magnitude of the difference between the sensor detection value and the reference value.

The control unit 200 evaluates the magnitude of the contact force of the instrument on the tongue model 100 based on the detection result of the pressure sensor 132 when the contact position of the instrument is near the appropriate instrument position 100b. If the result of such evaluation is that the contact force of the instrument is within the appropriate range, the control unit 200 evaluates that the instrument has been used appropriately. On the other hand, if the contact force of the instrument is not within the appropriate range or the contact position of the instrument is not near the appropriate instrument position 100b, the control unit 200 evaluates that the instrument has not been used appropriately. The control unit 200 may evaluate the appropriateness of the use of the instrument in stages based on how far the contact force of the instrument deviates from the appropriate range or how far the contact position of the instrument deviates from the appropriate instrument position 100b. The control unit 200 displays the evaluation result on an output means such as a display. In addition to or instead of this, the evaluation result may be recorded by the control unit 200 on various recording media.

[First Experimental Example]
A first experimental example carried out on the tongue model 100 and the sensor unit 130 will be described below. In this experimental example, the voltage of the detection signal (voltage signal) of each sensor when a load is applied to the tongue model 100 was measured while changing the position at which the load was applied. First, the tongue model 100 was placed horizontally on a flat surface, and a spoon was placed on it. The contact position of the spoon was set to the origin O ((x, y) = (0, 0)) with respect to the xy coordinate set for the tongue model 100 as shown in FIG. 7. The origin O corresponds to the appropriate instrument position 100b. The x direction corresponds to the direction perpendicular to the plane C shown in FIG. 2 and FIG. 3. The y direction corresponds to the vertical direction shown in FIG. 2 and FIG. 3. Then, various weights were placed on the spoon to apply loads of various magnitudes to the tongue model 100, and the detection values (voltage values (V)) indicated by the detection signals of each of the four sensors were measured. As a result, within the range of the normal contact force of the spoon on the tongue model 100, the detection values of each sensor with respect to the load changed approximately linearly.

Next, while keeping the load constant, the detection signal of each sensor was measured while changing the contact position of the spoon on the tongue model 100. Table 1 shows the results. "Position" in Table 1 indicates the position where the load was applied according to the above-mentioned xy coordinate system. Table 1 shows that, when the detection value at position (0,0) is taken as the reference, it is possible to determine in which direction the contact position of the spoon has shifted from the appropriate instrument position 100b depending on whether the detection values at each of the other positions have increased or decreased. First, as shown by the detection value related to position (0,-5) in Table 1, the fact that the detection value of the deformation sensor 135 increases from the reference and the detection values of the other three sensors decrease from the reference indicates that the contact position of the spoon has shifted in the -y direction from the appropriate instrument position 100b. Secondly, as shown by the detection value related to position (0,5) in Table 1, the fact that the detection values of the deformation sensors 133 and 134 increase from the reference and the detection values of the other two sensors decrease from the reference indicates that the contact position of the spoon has shifted in the +y direction from the appropriate instrument position 100b. Thirdly, as shown by the detection value for position (-5,0) in Table 1, the detection value of deformation sensor 133 increases from the reference while the detection values of the other three sensors decrease from the reference, indicating that the spoon contact position has shifted in the -x direction from the appropriate utensil position 100b. Fourthly, as shown by the detection value for position (5,0) in Table 1, the detection value of deformation sensor 134 increases from the reference while the detection values of the other three sensors decrease from the reference, indicating that the spoon contact position has shifted in the +x direction from the appropriate utensil position 100b.

[Table 1]

A method for evaluating the contact position of the spoon based on Table 1 will be described. For example, if the contact force of the spoon does not change significantly from the conditions of this experimental example, the following method may be adopted. First, the detection values of the four sensors at the position (0,0) in Table 1 are stored in the control unit 200 as reference values. Then, in the training of meal care or assistance using the training device 1, the control unit 200 compares the actual detection value of each sensor with the reference value. Based on the comparison result, the control unit 200 evaluates the contact position of the spoon based on how the actual detection value of each sensor deviates from the reference value. For example, if the detection value of the deformation degree sensor 133 is greater than the reference value and the detection values of the other three sensors are smaller than the reference value, the control unit 200 evaluates that the contact position of the spoon is deviated in the -x direction from the appropriate tool position 100b, as described above. Also, if the detection values of the deformation degree sensors 133 and 134 are greater than the reference value and the detection values of the other two sensors are smaller than the reference value, the control unit 200 evaluates that the contact position of the spoon is deviated in the +y direction from the appropriate tool position 100b.

In addition, if the contact force of the spoon varies to some extent from the conditions of this experimental example, the following method may be adopted. First, the contact force of the spoon on the tongue model 100 is varied in various ways, and the detection values of the four sensors are obtained while changing the contact position of the spoon as described above. As a result, a table of detection values such as that in Table 1 is obtained for each contact force. The control unit 200 stores such tables for each contact force, while associating the magnitude of the contact force and the direction of deviation from the appropriate tool position 100b with the detection values. Then, in meal care or assistance training using the training device 1, the actual detection values of the four sensors are compared with the above reference table, and the control unit 200 is caused to evaluate the contact position and contact force by extracting the magnitude of the contact force and the direction of deviation that correspond to the value closest to the actual detection value from among the values included in the table.

[Second Experimental Example]
A lip model 300, which is a model of lips to be added to the head model 10, and a sensor unit 310 fixed thereto were prepared as shown in FIG. 8. The lip model 300 is a model that reproduces the lips of a human body, has a flat plate shape curved in an arc, and is made of an elastic member made of synthetic resin such as silicone. The sensor unit 310 has sensors 311-313 and a resin substrate 314. The sensors 311-313 are deformation degree sensors having a configuration similar to that of the deformation degree sensor 135, and are fixed in the substrate 314. The sensors 311-313 are lined up along the extension direction of the lip model 300, and detect the degree of deformation of the lip model 300 at each position. In experiment A, the lip model 300 and the sensor unit 310 were placed horizontally on a flat surface, and a weight was placed on top of them to apply a load to the sensor unit 310. This operation was performed while changing the magnitude of the load, and the detection value of each sensor was obtained. In addition, in experiment B, the lip model 300 and the sensor unit 310 were placed on a spoon placed on a flat surface, and a weight was placed on top of the spoon to apply a load to the sensor unit 310. This operation was performed while changing the magnitude of the load, and the detection values of each sensor were obtained. Note that experiment B simulated a situation in which the lip model 300 and the sensor unit 310 were provided on the head model 10, and training was performed on the head model 10 with a spoon, in which the spoon came into contact with the lower part of the lip model 300 and applied a load to it.

The results of experiment A are shown in Figure 9, and the results of experiment B are shown in Figure 10. In Figures 9 and 10, the horizontal axis indicates the magnitude of the load (g force), and the vertical axis indicates the detection value (V). These graphs show that in both experiments A and B, the detection value increases in proportion to the load, including the 100-200 g force range in which detection is required in training. It can therefore be seen that the lip model 300 and sensor unit 310 are configured to be able to appropriately detect contact force.

[Effects of the embodiment]
According to the present embodiment described above, the sensor unit 130 including four sensors is provided in the tongue model 100, and the usage status of the instrument is evaluated based on the contact position and contact force of the instrument indicated by the detection results of these sensors. Therefore, when an instrument is brought into contact with the tongue model 100, it can be appropriately evaluated from multiple perspectives, such as the contact position and contact force of the instrument, whether the instrument is being used appropriately.

In addition, in this embodiment, as described above, the four sensors provided in the sensor unit 130 are not arranged in a straight line. If these sensors were arranged in a straight line, it would be difficult to distinguish, based on the detection results of the sensors, between a case in which the instrument contacts one of two points symmetrical with respect to the line and a case in which the instrument contacts the other. In contrast, because the sensors are not arranged in a straight line as described above, it is easy to appropriately evaluate the contact position of the instrument. Note that the sensor unit 130 may be provided with three sensors that are not arranged in a straight line, or may be provided with five or more sensors that are not arranged in a straight line.

In addition, in this embodiment, a recess 100a is formed in the tongue model 100, and the deepest point of this recess 100a is the appropriate device position 100b, which is the optimal position for the device. Therefore, by forming the recess 100a to reproduce the recess of the tongue, which is the appropriate contact position, it is possible for the trainee to learn the appropriate contact position of the device.

In addition, in this embodiment, the pressure sensor 132 is provided on the surface (back side) opposite to the surface (front side) with which the tool comes into contact. Therefore, when the tool is brought into contact with the tongue model 100, the pressure sensor 132 does not come into direct contact with the tool, so that the trainee can easily reproduce the sensation of the tool touching the tongue. On the other hand, since the pressure sensor 132 is provided on the back side of the tongue model 100, it may be difficult for the pressure sensor 132 to properly detect the pressure applied by the tool to the tongue model 100. However, according to the configuration of this embodiment, the protrusion 121 provided on the back side of the tongue model 100 applies pressure to the pressure sensor 132, which is detected by the tongue model 100. Therefore, the pressure of the tool pressed against the tongue model 100 is easily transmitted to the pressure sensor 132, and the pressure sensor 132 can easily detect the pressure.

In addition, in this embodiment, the deformation degree sensors 133-135 are provided on the surface (back side) opposite to the surface (front side) with which the tool comes into contact. Therefore, when the tool is brought into contact with the tongue model 100, the deformation degree sensors 133-135 do not come into direct contact with the tool, so that the trainee can easily reproduce the sensation of the tool coming into contact with the tongue. On the other hand, since the deformation degree sensors 133-135 are provided on the back side of the tongue model 100, it is considered that the sensors may not be able to properly detect the degree to which the tool deforms the tongue model 100. However, according to the configuration of this embodiment, the deformation degree sensors 133-135 detect the distance to the inner surface of the recess 122 or 123. The recess 122 or 123 is adjusted so that the deformation degree sensors 133-135 can easily detect the variation occurring on the inner surface of the recess 122 or 123. Therefore, it is easy to properly detect the degree of deformation of the tongue model 100 based on the detection results of the deformation degree sensors 133-135.

<Modification>
The above is a description of a preferred embodiment of the present invention, however, the present invention is not limited to the above-described embodiment, and various modifications are possible within the scope described in the means for solving the problems.

For example, in the above embodiment, the contact position of the instrument on the tongue model 100 is evaluated based on the detection results of the pressure sensor 132 and the deformation degree sensors 133-135. However, the posture of the instrument in contact with the tongue model 100 (e.g., the inclination with respect to the tongue model 100) may be evaluated based on the detection results of these four sensors. Even if the contact position of the instrument on the tongue model 100 is the same, the detection results of the four sensors may differ depending on the posture of the instrument. Thus, the detection results of the four sensors when the posture of the instrument is changed in various ways may be stored in the control unit 200 as reference values, and during training, the control unit 200 may evaluate the posture of the instrument based on a comparison of the detection results from the four sensors with the reference values.

In the above embodiment, the evaluation result as to whether the tool has been used appropriately is displayed on the output means. However, the evaluation result may be displayed by closing the lower jaw 12 using a servo motor 14 attached to the temporomandibular joint 13 of the head model 10. Alternatively, the evaluation result may be displayed by the illumination of an LED attached at any position on the training device 1, a sound from a speaker, or the like.

In addition to the above-mentioned embodiment, the lip model 300 and the sensor unit 310 may be attached to the upper jaw 11, and the servo motor 14 may close the lower jaw 12 to make the model hold the appliance in its mouth, and the control unit 200 may evaluate the magnitude and position of the stimulus that the appliance gives to the lip model 300 when the appliance is removed from that state based on the detection results of the sensor unit 310. In this case, it is preferable that the sensors 311 to 313 are not aligned in a straight line on the sensor unit 310. Furthermore, based on the detection results of each sensor, the control unit 200 may control the servo motor 14 to perform an operation to close the lower jaw 12 and a chewing operation (opening and closing operation) when the magnitude and position of the contact force of the appliance on the tongue model 100 and the magnitude and position of the contact force of the appliance on the lip model 300 both satisfy predetermined reference conditions.

In addition to the above-described embodiment, a visual sensor may be provided at a position corresponding to the pharynx of the head model 10, and the image acquired from the visual sensor may be subjected to image processing (image recognition processing) to detect the movement of the instrument, and the control unit 200 may evaluate this movement.

In addition to the above-described embodiment, one or more sensors may be attached to any location on the upper jaw portion 11 to better detect the movement of the instrument.

1 Training device 100a, 111, 112, 121 to 123 Recess 100b Appropriate position of device 100 Tongue model 130, 310 Sensor unit 132 Pressure sensor 133 to 135 Deformation sensor 200 Control unit 300 Lip model 311 to 313 Sensor

Claims (4)

A tongue reproduction model made of an elastic member in which a tongue is reproduced;
A plurality of sensors provided on the tongue reproduction model, the sensors including at least one of a deformation degree sensor for detecting a degree of deformation of the tongue reproduction model and a pressure sensor for detecting a pressure applied to the tongue reproduction model;
and an evaluation means for evaluating a position and a contact force of an eating utensil that has come into contact with the tongue reproduction model based on detection results from the plurality of sensors when the eating utensil comes into contact with the tongue reproduction model,
The tongue reproduction model has an opposite side recess which is a recess formed on a surface opposite to a surface that comes into contact with the instrument,
Another recess is formed within the opposite recess;
A training device for meal care or assistance, characterized in that the plurality of sensors include, as the deformation degree sensor, a sensor that faces the other recess and detects the distance to the inner surface of the other recess . the plurality of sensors includes three sensors arranged in a non-linear manner;
The training device for meal care or assistance according to claim 1, characterized in that the evaluation means evaluates the position of the tool based on the difference between the detection values of the three sensors when the tool contacts a reference position on the tongue reproduction model. the tongue replica model has a contact side recess which is a recess formed on a surface with which the instrument comes into contact,
3. The training device for meal care or assistance according to claim 1, wherein the plurality of sensors includes the pressure sensor arranged at a position corresponding to the contact-side recess. The tongue reproduction model has an opposite side recess which is a recess formed on a surface opposite to a surface that comes into contact with the instrument,
A protrusion is formed in the opposite recess,
A training device for meal care or assistance according to any one of claims 1 to 3, characterized in that the plurality of sensors includes, as the pressure sensor, a sensor facing the protrusion and detecting the pressure acting from the protrusion when the tool is pressed against the tongue reproduction model.

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