JP7849025B2 - A rehabilitation system that uses physical movement to control a robot. - Google Patents

Description

This invention relates to a robot-based rehabilitation support system used in the rehabilitation of individuals with physical disabilities.

In recent years, hospitals and elderly care facilities have been introducing humanoid robots to support the rehabilitation of patients and the elderly.

As an example of such technology, a humanoid robot like the one shown in Patent Document 1 has been developed. The humanoid robot shown in Patent Document 1 has a shoulder yaw axis that is inclined at a predetermined acute angle around the left-right axis of the torso relative to the vertical direction. Therefore, from the perspective of a user viewing the robot from the front, the rotation of the shoulder yaw axis can represent the up-and-down movement of the shoulder.

Japanese Patent Publication No. 2016-52710 (pages 5-9, Figure 1)

The humanoid robot described in Patent Document 1 is effective because it can express movements similar to those of a human, and can be used as an instructor in rehabilitation where the humanoid robot demonstrates exercises and patients or the elderly imitate them. However, there is a problem in that people with physical disabilities whose range of motion is limited often have difficulty moving their bodies in accordance with the movements of the humanoid robot, and therefore often lack the motivation to participate in rehabilitation with the humanoid robot as an instructor.

This invention addresses these problems and aims to provide a rehabilitation system that allows users to perform rehabilitation in a fun and engaging way by controlling a robot through physical movement.

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

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

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

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

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

This is a schematic diagram showing a rehabilitation system in Embodiment 1 of the present invention that controls a robot by moving the body. This is a block diagram showing a rehabilitation system in Example 1 where the user controls a robot by moving their body. This diagram shows the flowchart for the initial setup (calculation of the user's correction coefficient) in Example 1. This diagram shows a flowchart of the rehabilitation implementation in Example 1. This figure shows the mode selection screen displayed on the display device in Example 1. This figure shows the initial setup (correction factor calculation) mode screen displayed on the display device in Example 1. This figure shows the rehabilitation mode screen displayed on the display device in Example 1. This figure shows the mode selection screen displayed on the display device in Embodiment 2 of the present invention. This figure shows the initial settings (correction coefficient selection mode) screen displayed on the display device in Example 2. This figure shows the user ID and password input screen displayed on the display device in Embodiment 3 of the present invention. This figure shows the user-specific screen displayed on the display device in Example 3. This figure shows the initial setting (correction coefficient calculation) mode screen displayed on the display device in Embodiment 4 of the present invention. This figure shows the joint movement patterns of a healthy model in Example 4.

The following describes, based on examples, a configuration for implementing the rehabilitation system (hereinafter referred to as the "rehabilitation system") that controls a robot by moving the body according to the present invention.

The rehabilitation system according to Example 1 will be described with reference to Figures 1 to 7. Hereafter, the left side of Figure 1, as viewed from the front, will be considered the user and the right side of the articulated robot.

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

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

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

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

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

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

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

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

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

The movement amount storage unit 406 stores the calculated movement amounts of each joint.

The communication unit 407 converts the movement amounts of each joint stored in the movement amount storage unit 406 into movement signals and transmits them to the articulated robot 60.

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

As shown in Figure 1, the articulated robot 60 is a humanoid robot with multiple joints. A drive mechanism is incorporated inside the articulated robot 60, and it performs various movements according to instructions from the control device 40. The movements that the articulated robot 60 can perform are, for example, flexion and extension of the joints of the upper limbs, flexion and extension of the joints of the lower limbs, walking, etc., mainly movements performed in rehabilitation for people with physical disabilities, but are not limited to these movements.

Next, the method of using the rehabilitation system 1 according to Example 1 will be described. In Example 1, for the sake of simplicity, the explanation will focus on the flexion angle of the elbow joint, from an extended state to a flexed state, among several ranges of motion. The user 20 first performs the initial setup, and then performs the rehabilitation.

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

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

Next, the user 20 performs a predetermined movement in front of the camera 31 that constitutes the motion capture system 30, and the amount of movement of each joint is measured (S3). The predetermined movement refers to a movement that allows the range of motion of each joint of the user 20 to be measured. For example, this could be a movement where the palm is facing upwards, the upper limb is extended forward, and the elbow joint is flexed from the minimum joint angle to the maximum joint angle; however, the content of the movement is not particularly limited as long as the range of motion can be measured. The camera 31 detects the user 20's movement and outputs a signal to the processing unit 32. The processing unit 32 calculates the amount of movement of each joint of the user 20 from the input signal.

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

Next, the correction coefficient calculation unit 403 calculates the range of motion of each joint corresponding to the joint from the amount of motion of each joint stored in the motion amount storage unit 401 (S5). For simplicity of explanation, this embodiment describes the case where the minimum joint angle is 0°. In some cases, the minimum joint angle may be greater than 0°; in such cases, the minimum joint angle is corrected to 0° before calculating the range of motion. Specifically, if the minimum joint angle of the elbow joint flexion angle is 0° and the maximum joint angle is 40°, the range of motion of the elbow joint flexion angle for user 20 will be 40°.

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

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

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

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

Next, we will explain rehabilitation. Figure 4 is a flowchart showing the series of rehabilitation processes. We will explain the rehabilitation process following the flowchart in Figure 4. First, the user 20 selects and operates the rehabilitation mode button P2 from the mode selection screen 500 displayed on the display device 50 (S11). This displays the rehabilitation mode screen 520 (see Figure 7) on the display device 50.

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

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

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

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

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

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

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

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

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

Furthermore, in the entire rehabilitation process, the detection of the user's (20) movements by the camera (31) and the demonstration of the articulated robot (60) are performed in real time.

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

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

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

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

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

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

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

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

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

User 20 can exit the user-only screen 710 by operating the logout button P27 displayed on the user-only screen 710. This protects information related to user 20.

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

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

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

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

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

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

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

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

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

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

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

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

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

Furthermore, while the rehabilitation system was described in Examples 1 to 4 as being used for rehabilitation, it is not limited to this and may also be used in the healthcare or amusement fields.

Furthermore, while the rehabilitation system in embodiments 1 to 4 described above involves the control of a single articulated robot, it is not limited to this configuration; two or more articulated robots may be controlled.

Furthermore, while markerless motion capture systems were used in Examples 1 to 4, the system is not limited to this. Other general-purpose motion capture systems, such as marker-based systems or those that measure acceleration, may also be used.

1 Rehabilitation System 20 User 30 Motion Capture 31 Camera 32 Processing Unit 40 Control Unit 50 Display Unit 60 Multi-joint Robot 200 Healthy Person Model 202 Shoulder Joint 203 Upper Arm 204 Elbow Joint 205 Forearm 206 Wrist Joint 207 Hand 401 Motion Amount Storage Unit 402 Joint Data Storage Unit 403 Correction Coefficient Calculation Unit 404 Correction Coefficient Storage Unit 405 Movement Amount Calculation Unit 406 Movement Amount Storage Unit 407 Communication Unit 500, 600 Mode Selection Screen 510, 800 Initial Setup (Correction Coefficient Calculation) Mode Screen 520 Rehabilitation Mode Screen 610 Correction Coefficient Selection Mode Screen 700 User ID/Password Input Screen 710 User-Only Screen

Claims (4)

Articulated robots and
Motion capture that measures the amount of movement of the user's body parts,
The system includes a control device that receives the aforementioned amount of movement and transmits a movement signal to the articulated robot,
The control device calculates the amount of movement of the articulated robot corresponding to the measured amount of movement according to the user and transmits it as the movement signal .
The control device is a rehabilitation system characterized in that the amount of movement is amplified to the same range of motion as that of a healthy person, and the resulting amount of movement is used as the movement signal . The rehabilitation system according to claim 1, characterized in that the control device uses one of several steps obtained by changing the calculated amount of movement of the articulated robot according to the user's range of motion as the movement signal. The rehabilitation system according to claim 1 or 2 , characterized in that the control device calculates the amount of movement of the multi-joint robot according to the range of motion of the joints of each user's body part and stores this amount of movement. The rehabilitation system according to claim 3, characterized in that the control device can predict the amount of movement of other parts of the user from the amount of movement of one part of the user, calculate the amount of movement of multiple parts of the articulated robot corresponding to the amount of movement of the one part, and transmit it as the movement signal.