Title
Author(s)
巧緻性と固有感覚の定量的評価システムの開発
Development of Quantitative Evaluation System of Skillfulness
and Proprioception
山崎, 一徳
Citation
Issue Date
URL
2014-03-23
http://repo.lib.nitech.ac.jp/handle/123456789/21679
Rights
Type
Textversion
Thesis or Dissertation
ETD
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ത࢜࿦จ
޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷ
ఆྔతධՁγεςϜͷ։ൃ
Development of Quantitative Evaluation System
of Skillfulness and Proprioception
ɹɹɹɹ
ɹɹ
ɹ 2014 ೥ 1 ݄ ɹ
ࢁ㟒 Ұ℄
ɹɹ
ɹ
໨࣍
i
໨࣍
ୈ 1 ষ ং࿦
1
എ‫ ܠ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
1.1.1
௒ߴྸࣾձʹ͓͚Δҩྍɾհ‫ޢ‬ɾϦϋϏϦςʔγϣϯ . . . . . . . .
1
1.1.2
Պֶతࠜ‫ͮ͘جʹڌ‬ϦϋϏϦςʔγϣϯͷॏཁੑ . . . . . . . . . .
2
1.1.3
ϦϋϏϦϧωοαϯε‫ڀݚ‬ձ . . . . . . . . . . . . . . . . . . . . .
3
޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ . . . . . . . . . . . . . . . . . . .
4
1.2.1
޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱϦϋϏϦςʔγϣϯ . . . . . . . . . .
4
1.2.2
޼៛ੑͷఆྔతධՁʹؔ͢Δઌߦ‫ڀݚ‬
. . . . . . . . . . . . . . . .
7
1.2.3
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁʹؔ͢Δઌߦ‫ ڀݚ‬. . . . . . . . . .
8
1.2.4
‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁʹؔ͢Δઌߦ‫ ڀݚ‬. . . . . . . . . . . . . . .
8
1.2.5
ຊ‫͚͓ʹڀݚ‬ΔఆྔతධՁγεςϜͷ৽‫ن‬ੑ . . . . . . . . . . . . .
9
1.3
ຊ‫ڀݚ‬ͷ໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
1.4
ຊ࿦จͷ֓ཁ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
1.1
1.2
ୈ 2 ষ Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
15
2.1
͸͡Ίʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
2.2
Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜ . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
2.2.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
2.2.2
‫ܭ‬ଌγεςϜ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
Լࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏ . . . . . . . . . . . . . . . . . . . . . . .
18
2.3.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
2.3.2
ධՁ๏ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
2.3.3
ྟচࢼ‫ݧ‬ͷඃ‫ํͱऀݧ‬๏ . . . . . . . . . . . . . . . . . . . . . . . .
20
2.3.4
ྟচࢼ‫ݧ‬ͷ݁Ռͱߟ࡯ . . . . . . . . . . . . . . . . . . . . . . . . .
21
͓ΘΓʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
2.3
2.4
໨࣍
ii
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
25
3.1
͸͡Ίʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
3.2
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ . . . . . . . . . . . . . . . . .
25
3.2.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
3.2.2
ධՁ‫ݪ‬ཧ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
3.2.3
ఆྔతධՁ๏ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
ఆྔతධՁࢦඪΛબఆ͢ΔͨΊͷྟচࢼ‫ ݧ‬. . . . . . . . . . . . . . . . . .
30
3.3.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30
3.3.2
ྟচࢼ‫ݧ‬ͷର৅ऀͱํ๏ . . . . . . . . . . . . . . . . . . . . . . . .
31
3.3.3
࣮‫݁ݧ‬Ռͱߟ࡯ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
ఏҊධՁ๏ͷ༗ޮੑ‫ূݕ‬ͷͨΊͷྟচࢼ‫ ݧ‬. . . . . . . . . . . . . . . . . .
37
3.4.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37
3.4.2
ྟচࢼ‫ݧ‬ͷର৅ऀͱํ๏ . . . . . . . . . . . . . . . . . . . . . . . .
37
3.4.3
த೥݈ৗऀ‫ऀױͱ܈‬ͷൺֱ݁Ռͱߟ࡯
. . . . . . . . . . . . . . . .
37
3.5
ϩϯϕϧά཰ͱͷൺֱ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
3.6
͓ΘΓʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43
3.3
3.4
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
45
4.1
͸͡Ίʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
4.2
޼៛ੑධՁͷͨΊͷॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜ . . . . . . . . . . . . .
46
4.2.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46
4.2.2
೺Ѳྗ‫ܭ‬ଌγεςϜ . . . . . . . . . . . . . . . . . . . . . . . . . .
47
4.2.3
ॏྔՄมγεςϜ . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52
೺Ѳྗͷௐ੔࣮‫ ݧ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.3.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.3.2
࣮‫ํݧ‬๏ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.3.3
࣮‫݁ݧ‬Ռ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
޼៛ੑͷఆྔతධՁ๏ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
4.4.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56
4.4.2
ఆྔతධՁ๏ͷఏҊ . . . . . . . . . . . . . . . . . . . . . . . . . .
56
4.4.3
ධՁ݁Ռ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58
4.3
4.4
໨࣍
4.5
iii
͓ΘΓʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ୈ 5 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
59
61
5.1
͸͡Ίʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
5.2
೺Ѳྗͷ‫ܭ‬ଌγεςϜ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
5.2.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
5.2.2
ධՁ‫ݪ‬ཧ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61
5.2.3
ϋʔυ΢ΣΞͷ࢓༷ . . . . . . . . . . . . . . . . . . . . . . . . . .
62
5.2.4
iWakka Type L . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65
5.2.5
iWakka Type S . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
5.2.6
ੑೳධՁͷ݁Ռɾߟ࡯ . . . . . . . . . . . . . . . . . . . . . . . . .
72
೺Ѳಈ࡞ʹΑΔ iWakka ͷ‫ ݧ࣮ূݕ‬. . . . . . . . . . . . . . . . . . . . . .
73
5.3.1
໨త . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
5.3.2
‫ݧ࣮ূݕ‬ͷํ๏ . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
5.3.3
‫ݧ࣮ূݕ‬ͷ݁Ռͱߟ࡯ . . . . . . . . . . . . . . . . . . . . . . . . .
74
͓ΘΓʹ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
5.3
5.4
ୈ 6 ষ ݁࿦
6.1
6.2
79
ຊ‫ڀݚ‬ͷ·ͱΊ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79
6.1.1
ୈ 2 ষɼୈ 3 ষͷ·ͱΊ . . . . . . . . . . . . . . . . . . . . . . . .
79
6.1.2
ୈ 4 ষɼୈ 5 ষͷ·ͱΊ . . . . . . . . . . . . . . . . . . . . . . . .
79
6.1.3
ຊ‫Ͱڀݚ‬ಘΒΕͨ੒Ռ . . . . . . . . . . . . . . . . . . . . . . . . .
80
ࠓ‫ޙ‬ͷ՝୊ͱকདྷͷల๬ . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
6.2.1
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜ . . . . .
81
6.2.2
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜ . . .
82
6.2.3
՝୊ࢦ޲‫ܕ‬τϨʔχϯάΛ࣮‫͢ݱ‬ΔͨΊͷϦϋϏϦςʔγϣϯࢧԉ
‫ ثػ‬. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
ࢀߟจ‫ݙ‬
85
ँࣙ
93
‫੷ۀڀݚ‬
95
ਤϦετ
v
ਤϦετ
1.1
Sensorimotor integration function and somatic sensation . . . . . . . . . .
5
1.2
Mechanism of voluntary movement . . . . . . . . . . . . . . . . . . . . . .
6
1.3
Comparison between this study and the previous study . . . . . . . . . . .
11
2.1
Rehabilitation system of lower limb . . . . . . . . . . . . . . . . . . . . . .
17
2.2
Ten evaluating stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
2.3
Explanatory drawing of evaluating stages of sensorimotor integration function 20
2.4
Results of attainment time of Subject 1 . . . . . . . . . . . . . . . . . . . .
22
2.5
Results of attainment time of seven subjects of deteriorated after surgery .
22
3.1
Evaluation method of proprioception . . . . . . . . . . . . . . . . . . . . .
26
3.2
Four evaluating courses . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
3.3
Explanatory drawing of evaluating courses of proprioception . . . . . . . .
28
3.4
Results of attainment time . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
3.5
Results of deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
3.6
Results of difference between attainment time with/without vision information 35
3.7
Results of ratio between attainment time with/without vision information .
3.8
Results of difference between accumulated deviations with/without vision
information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9
35
36
Results of ratio between accumulated deviations with/without vision information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36
3.10 Results of attainment time . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
3.11 Results of deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
3.12 Results of difference between accumulated deviations with/without vision
information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
3.13 Results of ratio between accumulated deviations with/without vision information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40
ਤϦετ
vi
3.14 Mean of Romberg quotient according to age [48] . . . . . . . . . . . . . . .
42
3.15 Reallyelationship between the romberg quotient [48] and the results obtained
by this evaluation method . . . . . . . . . . . . . . . . . . . . . . . . . . .
42
4.1
Grip device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
4.2
Block diagram of measurement system . . . . . . . . . . . . . . . . . . . .
49
4.3
Measurement system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49
4.4
Display monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50
4.5
Characteristics of output voltage and reaction force . . . . . . . . . . . . .
51
4.6
Characteristics of deformation and reaction force . . . . . . . . . . . . . . .
51
4.7
Measurement device for added weight . . . . . . . . . . . . . . . . . . . . .
52
4.8
Lift-up motion of grip device . . . . . . . . . . . . . . . . . . . . . . . . . .
53
4.9
Experimental equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54
4.10 Results of measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55
4.11 Quantitative evaluation of adjustment ability of grip force . . . . . . . . .
57
4.12 Results of adjustment ability of grip force
. . . . . . . . . . . . . . . . . .
58
5.1
Evaluation method of sensorimotor integration function . . . . . . . . . . .
62
5.2
Definition of width of deformation . . . . . . . . . . . . . . . . . . . . . . .
63
5.3
Structure of measurement device ʠ iWakka ʡ . . . . . . . . . . . . . . . .
64
5.4
Slide structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
5.5
Theoretical characteristics of deformation and reaction force . . . . . . . .
67
5.6
Measurement device ʠ iWakka ʡ . . . . . . . . . . . . . . . . . . . . . . .
69
5.7
Comparison of characteristics of deformation and reaction force between
simulation and real object . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
5.8
Characteristics of deformation and output voltage . . . . . . . . . . . . . .
70
5.9
Comparison of characteristics of deformation and reaction force between
Type L and Type S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
5.10 Deformation of leaf spring . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
5.11 Comparison of characteristics of deformation (4 - 7 mm) and reaction force
between Type L and Type S . . . . . . . . . . . . . . . . . . . . . . . . . .
74
5.12 Scene of experiment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75
ਤϦετ
5.13 Mean and standard deviation of reproduction of error value (N = 12) . . .
vii
76
දϦετ
ix
දϦετ
3.1
Case of experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
3.2
Information of young subjects . . . . . . . . . . . . . . . . . . . . . . . . .
32
3.3
Information of old subjects . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
5.1
Spring constant of Type Ls . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
ɹ
1
ୈ1 ষ
ং࿦
1.1
1.1.1
എ‫ܠ‬
௒ߴྸࣾձʹ͓͚Δҩྍɾհ‫ޢ‬ɾϦϋϏϦςʔγϣϯ
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্ͷߴྸऀਓ‫ޱ‬͸ա‫ߴ࠷ڈ‬ͷ 3,156 ສ 3 ઍਓͰ͋Δ [1]ɽ಺ֳ෎͕·ͱΊͨฏ੒ 24 ೥൛ߴ
ྸࣾձനॻ ʹΑΔͱ [2]ɼ૯ਓ‫ʹޱ‬઎ΊΔ 65 ࡀҎ্ͷׂ߹Λࣔ͢ߴྸԽ཰͸ 23.3% ʹͷ΅
Γɼ2007 ೥Ҏ߱ɼ௒ߴྸࣾձʹಥೖ͍ͯ͠Δɽࠓ‫ޙ‬ɼ૯ਓ‫ݮ͕ޱ‬গ͢Δͳ͔ͰɼߴྸԽ཰
͸্ঢ͢Δͱ༧ଌ͞Ε͓ͯΓɼ2060 ೥ʹߴྸԽ཰͸ 39.9% ʹୡ͠ɼࠃຽͷ 2.5 ਓʹ 1 ਓ͕
65 ࡀҎ্ͱͳΔ͜ͱ͕༧ଌ͞Ε͍ͯΔɽ͔͠͠ɼ೔ৗੜ‫ݶ੍ʹ׆‬ͷͳ͍‫͞ͱؒظ‬ΕΔ݈߁
ण໋ͷԆͼ͸খ͘͞ɼߴྸऀͷཁհ‫ऀޢ‬౳਺͸ɼۙ೥ɼ‫ٸ‬଎ʹ૿Ճ͍ͯ͠Δɽ·ͨɼߴྸ
ऀͷੜ‫׆‬Λࢧ͑ΔͨΊʹɼ20ʙ64 ࡀͷ‫ݱ‬໾ੈ୅ͷҩྍඅෛ୲΋૿Ճ͓ͯ͠Γɼ2010 ೥Ͱ͸
ߴྸऀ 1 ਓΛࢧ͑Δ‫ݱ‬໾ੈ୅ʢ20ʙ64 ࡀʣ͸ 2.6 ਓͰ͋Δ͕ɼ2060 ೥ʹ͸ɼߴྸऀ 1 ਓΛ
ࢧ͑Δ‫ݱ‬໾ੈ୅͸ 1.2 ਓͱͳΔ͜ͱ͕༧ଌ͞Ε͍ͯΔɽ͜ΕΒͷߴྸԽ཰ͷ্ঢ͸ɼΞδ
Ξ΍Ԥถॾࠃͱൺֱͯ͠΋‫܈‬Λൈ͍ͯߴ͍ɽҰํͰɼੈքతʹ΋ߴྸԽ͕ਐΉͨΊɼ֤ࠃ
͕஌‫ܙ‬Λग़͠߹͍‫ͯ͠ྗڠ‬औΓ૊Ή΂͖՝୊ͱͯ͠ೝࣝ͞Ε͍ͯΔ [2]ɽ
ߴྸऀͷ૿Ճʹ൐͍ɼ਎ମೳྗͷ௿Լ΍֤छ࣬‫ױ‬౳ʹΑΓ೔ৗੜ‫Ͱ׆‬ԿΒ͔ͷࢧԉΛཁ
͢Δਓ΋૿Ճ͢ΔͨΊɼ೥ۚɾҩྍɾ෱ࢱͳͲ೔ຊͷࡒ੓ࣄ৘ѱԽͷେ͖ͳཁҼͱͳͬͯ
͍Δɽզ͕ࠃʹ͓͍ͯ͸ɼࠃͷҰൠࡀग़ʹ઎ΊΔࣾձอোؔ܎අͷׂ߹͕ 5 ׂΛ௒͓͑ͯ
Γɼຖ೥ 1 ஹԁ‫ن‬໛ͷࣾձอোͷࣗવ૿͕ෆՄආͱͳ͍ͬͯΔ‫ݱ‬ঢ়͕͋Δ ɽಛʹɼ2025 ೥
͸ɼஂմੈ୅ͷશ͕ͯ 75 ࡀҎ্ͷ‫ͳͱऀྸߴظޙ‬Γɼ૯ਓ‫ʹޱ‬઎ΊΔ 75 ࡀҎ্͕ 20% Λ
௒͑ΔͨΊɼҩྍ΍հ‫ޢ‬ͷधཁ͕‫͢૿ٸ‬ΔɽདྷͨΔ 2025 ೥ʹ޲͚ͯɼ2 ೥͝ͱͷ਍ྍใु
վఆͱ 3 ೥͝ͱͷհ‫ޢ‬ใुվగɼͳΒͼʹ 5 ೥͝ͱͷҩྍ‫ܭ‬ըͷ‫ݟ‬௚͠Λ‫ͯܦ‬ɼޮ཰తͰ
࣭ͷߴ͍ҩྍɾհ‫ޢ‬ͷఏ‫ڙ‬ମ੍ͷߏங͓Αͼɼ஍Ҭแ‫ׅ‬έΞγεςϜͷߏஙΛ໨ࢦ͍ͯ͠
Δ [3] [4]ɽ͜ΕΒͷ࣮‫ݱ‬ͷͨΊʹɼ
ʮೖӃҩྍͷ‫ػ‬ೳ෼Խɾ‫ڧ‬Խʯɼ
ʮҩྍ‫͓ؒؔػ‬Αͼҩྍ
ͱհ‫ޢ‬ͷ࿈‫ڧܞ‬Խʯɼ
ʮࡏ୐ҩྍͷॆ࣮ʯΛਤΔඞཁ͕͋Γɼ‫ऀױ‬ͷૣ‫ظ‬ճ෮Λ໨తͱͨ͠
ୈ1ষ
2
ং࿦
‫ٸ‬ੑ‫ظ‬ϦϋϏϦςʔγϣϯͷॆ࣮ɾ‫ڧ‬ԽɼͳΒͼʹ‫ऀױ‬ͷࡏ୐෮‫ؼ‬Λ໨తͱͨ͠ѥ‫ٸ‬ੑ‫ظ‬
ϦϋϏϦςʔγϣϯͷॆ࣮ɾ‫ڧ‬ԽɼॅΈ‫׳‬Εͨࡏ୐Λ‫ج‬ຊͱͨ͠ੜ‫׆‬ͷ‫ܧ‬ଓΛ໨ࢦ͢஍Ҭ
แ‫ׅ‬έΞγεςϜͷߏஙɼཁհ‫ޢ‬ঢ়ଶʹͳΔߴྸऀͷ‫ݮ‬গΛ໨తͱͨ͠հ‫ޢ‬༧๷ɾॏ౓Խ
༧๷ͷͨΊͷ๚໰ϦϋϏϦςʔγϣϯ΍௨ॴϦϋϏϦςʔγϣϯͷॆ࣮ɾ‫ڧ‬Խ͕ॏཁࢹ͞
Ε͍ͯΔ [5] [6]ɽ
1.1.2
Պֶతࠜ‫ͮ͘جʹڌ‬ϦϋϏϦςʔγϣϯͷॏཁੑ
ʮ࠶ͼ
ɹϦϋϏϦςʔγϣϯͷ‫ݯޠ‬͸ɼϥςϯ‫Ͱޠ‬ɼreʢ࠶ͼʣ+habilisʢదͨ͠ʣͰ͋Γɼ
దͨ͠ঢ়ଶʹͳΔ͜ͱʯɼ
ʮຊདྷ͋Δ΂͖ঢ়ଶ΁ͷճ෮ʯͳͲͷҙຯΛ࣋ͭɽ͜ͷͨΊɼප
Ӄ΍ϦϋϏϦςʔγϣϯࢪઃͰ‫ݟ‬ΒΕΔ‫ػ‬ೳճ෮ͷͨΊͷτϨʔχϯάʢؔઅͷ‫͛ۂ‬৳͹
͠΍Ϛοαʔδɼาߦ‫܇‬࿅ͳͲʣͳͲͷ࣏ྍͷΈͳΒͣɼΑΓྑ͍ਓੜΛૹΔ͜ͱ͕Ͱ͖
ΔΑ͏ʹ‫ऀױ‬Λࢧԉ͢Δ͜ͱ΋‫ؚ‬Ή [7]ɽ͕ͨͬͯ͠ɼϦϋϏϦςʔγϣϯ͸ɼ݈߁ͳߴྸ
ऀͷ૿ՃͷͨΊ΍ɼো͕͍ऀ͕ࣾձ‫׆‬ಈʹߩ‫͖Ͱݙ‬Δࣾձମ੍ͷߏஙͷͨΊʹ͸͔ܽͤͳ
͍΋ͷͰ͋Δɽ
ϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔Ͱ͸ɼϦϋϏϦςʔγϣϯΛඞཁͱ͢Δߴྸऀ΍ো͕͍
ऀʹରͯ͠ɼछʑͷ‫ͱࠪݕ‬ධՁͷ݁Ռ͔ΒτϨʔχϯάϓϩάϥϜͷઃ‫ܭ‬Λߦ͍ɼ‫ऀױ‬Ұ
ਓҰਓͷঢ়ଶʹదͨ͠τϨʔχϯάΛߦ͏͜ͱ͕ҰൠతͰ͋Δɽ
‫ࠪݕ‬΍ධՁͷ࣮ࡍ͸ɼྍ๏͕࢜‫ऀױ‬ͷ਎ମಈ࡞Λ‫݁ͨ͠࡯؍‬Ռ΍‫ܭ‬ଌͨ݁͠ՌΛ‫ʹج‬ධ
ՁΛߦ͏͜ͱ͕ҰൠతͰ͋Δɽྫ͑͹ɼؔઅ‫ػ‬ೳΛධՁ͢ΔͨΊͷؔઅՄಈҬʢRange of
motionɼROMʣͷ‫Ͱࠪݕ‬͸ɼ਎ମͷ֤ؔઅ͕ই֐ͳͲΛ‫ʹͣ͜͞ى‬ӡಈͰ͖Δൣғʢ֯
౓ʣΛࣔ͢ [9]ɽ͔͠͠ɼ͜ͷධՁ͸ྍ๏࢜ͷ‫ࠪݕ‬εΩϧ͕Ө‫͢ڹ‬ΔͨΊɼྍ๏࢜͝ͱʹධ
Ձ݁Ռ͕ҟͳΓɼ࠶‫ݱ‬ੑͱ٬‫؍‬ੑ΋͚ܽͯ͠·͏ɽ·ͨɼยຑᙺͷճ෮ஈ֊Λ 6 ஈ֊Ͱॱ
ং෇͚ͨϒϧϯετϩʔϜεςʔδʢBrunnstrom stage, Brsʣ͸ [9]ɼྍ๏࢜ؒͰ࠷΋࢖༻
͞Ε͍ͯΔྟচతධՁࢦඪͷҰͭͰ͋Δ͕ɼධՁ݁Ռ͕มԽͳ͠Ͱ΋าߦͷվળ͕‫ݟ‬ΒΕ
ΔͳͲɼॱংई౓ͱͯ͠ͷ৴པੑͱଥ౰ੑ͕े෼Ͱͳ͍ͱ‫ݴ‬ΘΕ͍ͯΔ [10]ɽ͕ͨͬͯ͠ɼ
͜ΕΒͷධՁ݁Ռ͸ɼྍ๏࢜ͷ‫ʹݧܦ‬ґଘ͢Δ͜ͱͱͳΓɽྍ๏࢜͝ͱʹ͹Β͖͕ͭੜ͡ɼ
٬‫؍‬ੑʹ͚ܽͯ͠·͏໰୊͕ࢦఠ͞Ε͍ͯΔɽ
ۙ೥ɼ‫ऀױ‬ͷૣ‫ظ‬ճ෮ͱޮՌతͳ࣏ྍΛ໨తͱͯ͠ɼՊֶతࠜ‫ͮ͘جʹڌ‬ҩֶʢEvidence
based medicineɼEBMʣʹΑΔϦϋϏϦςʔγϣϯͷॏཁੑ͕ᨳΘΕ͓ͯΓ [11]- [14]ɼྟ
চ‫ݱ‬৔Ͱ͸ɼ਎ମೳྗɼͳΒͼʹ਎ମ‫ػ‬ೳͷ௿Լ౓߹͍Λ஌Δ͜ͱͷͰ͖ΔఆྔతධՁ๏
΍ޮՌͷߴ͍࣏ྍ๏ͷ։ൃ͕‫͘ڧ‬๬·Ε͍ͯΔɽಛʹɼྍ๏࢜ͷ‫ʹݧܦ‬ґଘ͍ͯͨ͠਎ମ
1.1. എ‫ܠ‬
3
‫ػ‬ೳͷධՁΛఆྔతͳ৘ใͱ͢ΔͨΊʹ͸ɼ޻ֶͷࢧԉ͕ඞཁෆՄܽͰ͋Δɽ޻ֶٕज़ʹ
ΑΓɼϦϋϏϦςʔγϣϯʹΑΔ࣏ྍޮՌͷఆྔతධՁ͕࣮‫͖Ͱݱ‬Ε͹ɼධՁͷ࠶‫ݱ‬ੑͱ
ਖ਼֬ੑͷ޲্ͱޮՌతͳ࣏ྍ๏ͷ։ൃ΁ͱ‫͕ܨ‬ΓɼϦϋϏϦςʔγϣϯͷޮ཰ԽΛਤΔ͜
ͱ͕Ͱ͖Δɽ͜ͷͨΊɼྍ๏࢜ͷෛ୲ܰ‫ݮ‬ɼͳΒͼʹ‫ऀױ‬ͷૣ‫ظ‬ճ෮Λ࣮‫͖Ͱݱ‬Δɽ͞Β
ʹɼ2025 ೥Λ‫ݟ‬ਾ͑ͨޮ཰తͰ࣭ͷߴ͍ҩྍɾհ‫ޢ‬ͷఏ‫ڙ‬ମ੍ͷߏஙɼͳΒͼʹ஍Ҭแ‫ׅ‬
έΞγεςϜͷߏஙʹ‫د‬༩Ͱ͖Δͱߟ͑Δɽ
1.1.3
ϦϋϏϦϧωοαϯε‫ڀݚ‬ձ
ɹ͜Ε·ͰʹఏҊ͞Ε͖ͯͨϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷଟ͘͸ɼϦϋϏϦςʔγϣϯ
ͷྟচ‫ݱ‬৔ͷχʔζʹ‫ݴͱ͍ͳ͍͍ͯͮج‬ΘΕΔ͜ͱ͕ଟ͍ɽ͜ͷཧ༝͸ɼྟচ‫ݱ‬৔ʹ͓
͚ΔχʔζΛ޻ֶ‫े͕ऀڀݚ‬෼ʹ೺ѲͰ͖͍ͯͳ͍͔ΒͰ͋Γɼҩ޻࿈‫ܞ‬ͷ೉͠͞ͱɼϦ
ϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ‫ڀݚ‬։ൃʹ͓͚Δ՝୊͕ࢦఠ͞Ε͍ͯΔ [15] [16] [17] ɽ
͜ͷΑ͏ͳঢ়‫گ‬ͷதͰɼ໊‫ݹ‬԰޻‫ۀ‬େֶ৿ా‫Ͱࣨڀݚ‬͸ɼ2007 ೥͔Βྍ๏࢜Βͱͷҩ޻
࿈‫ʹܞ‬ΑΔϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ‫ڀݚ‬։ൃΛߦ͍ͬͯΔɽචऀ͸ɼ2008 ೥ 4 ݄͔
Β৿ా‫ॴʹࣨڀݚ‬ଐ͓ͯ͠Γɼྍ๏࢜Βͱͷҩ޻࿈‫ܞʹܞ‬Θ͖ͬͯͨɽҎԼʹɼ৿ా‫ڀݚ‬
ࣨʹ͓͚Δҩ޻࿈‫ܞ‬ͷऔΓ૊Έʹ͍ͭͯઆ໌͢Δɽ
2009 ೥ʹ৿ా‫ڭ‬त͸ྍ๏࢜ΒͱҰॹʹɼਅͷҙຯͰͷϚονϯά͔Βɼਅʹ໾ཱͭϦϋ
ϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ։ൃΛ໨ࢦͨ͠ʮϦϋϏϦϧωοαϯε‫ڀݚ‬ձ [18]- [20]ʯΛཱ
্ͪ͛ͨɽಉ೥ɼத෦Πϊϕʔγϣϯ૑ग़‫ڞ‬ಉମͷఏҊ‫ܕ‬࿈‫ߏܞ‬ஙࣄ‫͍͓ͯʹۀ‬ʮࣄ‫໊ۀ‬ɿ
޻ֶతΞϓϩʔνʹ‫ͮ͘ج‬ϦϋϏϦ‫ثػ‬։ൃͷͨΊͷ࿈‫ܞ‬ମ੍ͷߏஙʯΛ্ཱͪ͛ͨɽ͜͜
Ͱ͸ɼ޻ֶ‫ྍͱऀڀݚ‬๏࢜ͱͷ૬‫ޓ‬ཧղΛਂΊɼ࿈‫ܞ‬ମ੍Λߏஙͨ͠ɽ2011 ೥ʹ͸ɼެӹࡒ
ஂ๏ਓத෦Պֶٕज़ηϯλʔͷ஍Ҭ࢈‫ۀ‬ͷ‫ڝ‬૪ྗ‫ڧ‬ԽΛ໨ࢦͨ͠৽࢈‫ൃۀ‬۷ͷͨΊͷௐࠪ
ࣄ‫͋Ͱۀ‬Δ෼໺ಛԽ‫ܕ‬ษ‫ڧ‬ձࣄ‫͍͓ͯʹۀ‬ʮࣄ‫໊ۀ‬ɿϦϋϏϦςʔγϣϯ࣮຿ऀχʔζʹΑ
Δ‫ثػ‬։ൃͷͨΊͷษ‫ڧ‬ձʯΛ্ཱͪ͛ͨɽ͜͜Ͱ͸ɼ‫ثػ‬ͷ঎඼ԽΛ໨ࢦͨ͢Ίʹɼ࢈‫ۀ‬
ք΋‫ؚ‬ΊͨϦϋϏϦɾ޻ֶɾ࢈‫ֶ׭‬ͷ࿈‫ܞ‬ମ੍Λߏஙͨ͠ɽ͞Βʹɼ2012 ೥ʹ͸ɼ͜Ε·Ͱ
ͷ࿈‫׆ܞ‬ಈΛ࣮࣭Խ͢ΔͨΊʹɼ஍Ҭ৽੒௕࢈‫ۀ‬૑ग़ଅਐิॿۚࣄ‫ۀ‬ʮத෦ϔϧεέΞ෼໺
࢈‫ڵৼۀ‬ଅਐͳΒͼʹࣄ‫ۀ‬Խࢧԉࣄ‫ۀ‬ʯମ੍‫ڧ‬Խࣄ‫ۀ‬ษ‫ڧ‬ձʢ࠾୒ࣄ‫ऀۀ‬ɿ(‫)ג‬CLINICAL
STUDY SUPPORTʣͷதͰʮ‫܇‬࿅૷ஔ։ൃʹ͓͚Δؔ࿈๏‫ؔ͢ʹن‬Δษ‫ڧ‬ձʯΛ্ཱͪ
͛ͨɽ͜͜Ͱ͸ༀࣄ๏Λษ‫͢ڧ‬Δͱಉ࣌ʹɼ4 ͭͷϦϋϏϦࢧԉ‫ثػ‬։ൃϓϩδΣΫτΛ
্ཱͪ͛ɼͦΕͧΕʹༀࣄ๏ʹ‫ͮ͘ج‬ҩྍ‫ثػ‬ೝՄΛड͚Δ·ͰͷϩʔυϚοϓΛࡦఆ͠
ͨɽ4 ͭͷϓϩδΣΫτΛҎԼʹࣔ͢ɽ
ୈ1ষ
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ং࿦
ɹ 1) ෛՙ఍߅‫܇‬࿅ࢧԉϩϘοτ։ൃϓϩδΣΫτ
ɹ 2) ‫܇ཱى‬࿅ࢧԉϩϘοτ։ൃϓϩδΣΫτ
ɹ 3) खࢦ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ‫܇‬࿅ධՁγεςϜ։ൃϓϩδΣΫτ
ɹ 4) Լࢶ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ‫܇‬࿅ධՁγεςϜ։ൃϓϩδΣΫτ
Ҏ্ͷҩ޻࿈‫ܞ‬ͷऔΓ૊ΈͷதͰචऀ͕‫ͱͨ͜͡ײ‬Λड़΂ͨ‫ޙ‬ɼຊ࿦จͱͷؔ࿈ੑΛ·
ͱΊΔɽ͜Ε·ͰʹؔΘ͖ͬͯͨྍ๏࢜ͷχʔζΛ·ͱΊΔͱɼ਎ମ‫ػ‬ೳ΍࣏ྍޮՌͷఆ
ྔతධՁπʔϧͷ࣮‫ूʹݱ‬໿͞ΕΔɽ͜Ε͸ɼલઅͰ΋ड़΂ͨΑ͏ʹඇৗʹॏཁͰ͋Γɼྟ
চ‫ݱ‬৔ʹ͓͚Δજࡏతχʔζͱ‫͑ݴ‬Δɽಛʹɼྟচ‫ݱ‬৔Ͱ͸ɼ҆Ձ͔ͭ؆ศͰѻ͍΍͍͢
πʔϧ͕๬·Ε͓ͯΓɼߴՁͰෳࡶͳ‫ثػ‬΍૷ஔ͸๬·Ε͍ͯͳ͍Α͏Ͱ͋Δɽ·ͨɼྍ
๏࢜ͷϚϯύϫʔͷෆ଍Λิ͏ͨΊ͚ͩͷπʔϧ͸๬·Ε͍ͯͳ͍ɽͭ·Γɼྍ๏࢜ͷ࢓
ࣄΛୣ͏Α͏ͳྍ๏࢜ͷ୅ସπʔϧͰ͸ͳ͘ɼ࣏ྍεΩϧ΍ޮ཰Λ޲্ͤ͞ΔͨΊͷࢧԉ
πʔϧ͕๬·Ε͍ͯΔΑ͏Ͱ͋Δɽ͜ΕΒͷχʔζ͸ɼྟচ‫ݱ‬৔ʹ͓͚Δજࡏతͳ΋ͷͰ
͋Δ͕ɼྍ๏࢜ࣗ਎΋՝୊Ͱ͋ΔͱೝࣝͰ͖͍ͯͳ͍৔߹΋ଟ͍ɽ͞Βʹɼ༗༻ͳπʔϧ
Λ։ൃ͢ΔͨΊʹ͸ɼྟচ‫ݱ‬৔Ͱͷར༻Λ೦಄ʹஔ͍ͯվྑΛॏͶΔඞཁ͕͋Δɽͦͷͨ
Ίɼྍ๏࢜ʹ͸։ൃ‫ثػ‬ͷϢʔβʔͷΈͱͯ͠ͷཱ৔Ͱ͸ͳ͘ɼ։ൃऀͷҰһͱͯ͠ࢀը
ͯ͠΋Β͏͜ͱ͕ඇৗʹॏཁͰ͋Δͱߟ͍͑ͯΔɽ
ຊ࿦จͰࣔ͢੒Ռ͸ɼઌड़ͷ 4 ͭͷϓϩδΣΫτͷ͏ͪɼ3) खࢦ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ‫܇‬
࿅ධՁγεςϜ։ൃϓϩδΣΫτͱɼ4) Լࢶ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ‫܇‬࿅ධՁγεςϜ։ൃϓ
ϩδΣΫτͷ 2 ͭʹؔ܎͢Δ΋ͷͰ͋Δɽ͍ͣΕͷ‫ڀݚ‬੒Ռ΋ɼ։ൃͷॳ‫ظ‬ஈ֊͔Βྍ๏
͕࢜։ൃऀͷҰһͱͯ͠ࢀը͓ͯ͠Γɼྍ๏๊͕࢜͑Δྟচ‫ݱ‬৔ͷજࡏχʔζΛ۷Γ‫͜ى‬
͠ɼ͜ΕΒͷχʔζ͔Β޻ֶత࢓༷Λࡦఆ͢Δ͜ͱΛ‫ͯܦ‬ɼϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬
ͷ‫ڀݚ‬։ൃΛਐΊ͍ͯΔɽ
1.2
1.2.1
޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ
޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱϦϋϏϦςʔγϣϯ
ɹੜ‫׆‬ͷ࣭ʢQuality of lifeɼQOLʣΛߟ͑Δ্Ͱɼ೔ৗੜ‫Ͱ׆‬Α͘‫ݟ‬ΒΕΔ֊ஈঢ߱ͳͲ
ͷԼࢶಈ࡞΍ɼίοϓͷ೺࣋ͳͲͷ೺Ѳಈ࡞͸ඇৗʹॏཁͰ͋Δɽਓ͕ؒ͜ΕΒͷಈ࡞Λߦ
͏ࡍɼओʹࢹ֮ʢVisual senseʣɼମੑ‫֮ײ‬ʢSomatic sensationʣͳͲͷ‫ػ֮ײ‬ೳͷϑΟʔ
υόοΫΛඞཁͱ͢Δ [21]ɽ͜ͷΑ͏ͳঢ়‫߹ʹگ‬Θͤͯ޼Έʹಈ࡞Λௐ੔͢ΔೳྗΛ޼៛
ੑͱ‫[ ͼݺ‬22]ɼ͜ͷೳྗΛൃ‫͢ش‬ΔͨΊʹ͸‫ػ֮ײ‬ೳͱӡಈ‫ػ‬ೳͱͦΕΒΛ౷߹͢Δ‫ػ‬ೳ
1.2. ޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ
5
Fig. 1.1 Sensorimotor integration function and somatic sensation
͔Βߏ੒͞ΕΔ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳʢSensorimotor integration functionʣ͕ඞཁͰ͋Δɽ͜
͜Ͱɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱମੑ‫֮ײ‬ͷ෼ྨΛ Fig. 1.1 ʹࣔ͢ɽࢹ֮͸֎քߏ଄ͷೝࣝΛߦ
͏ͨΊͷηϯαɼલఉ֮͸ӡಈʹ൐͏಺ࣖͷ܏͖Λ‫ײ‬஌͢ΔηϯαͰ͋Δɽ·ͨɼମੑ‫ײ‬
֮͸ൽෘ‫֮ײ‬ʢSkin sensationʣͱ‫ݻ‬༗‫֮ײ‬ʢProprioceptionʣ͔ΒͳΔɽൽෘ‫֮ײ‬͸ൽෘ
ද໘΁ͷ਎ମ֎෦͔ΒͷܹࢗΛ‫ײ‬஌͢ΔηϯαͰ͋Γɼ‫ݻ‬༗‫֮ײ‬͸֤ؔઅͷ֯౓΍ӡಈํ
޲ͱ͍ͬͨ਎ମ಺෦͔Βͷӡಈ৘ใΛ‫ײ‬஌͢ΔηϯαͰ͋Δɽӡಈͷ੍‫ʹޚ‬େ͖ؔ͘܎͢
Δମੑ‫͍͓ͯʹ֮ײ‬͸ɼൽෘ‫͚͓ʹ֮ײ‬Δ৮֮ͱɼ‫ݻ‬༗‫͚͓ʹ֮ײ‬Δѹ֮ͱҐஔ֮ͱӡಈ
͕֮ߟ͑ΒΕΔɽ͔͠͠ɼ೔ৗੜ‫Ͱ׆‬ͷಈ࡞Λ૝ఆͨ࣌͠ɼൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬Λ੾Γ෼
͚ͯѻ͏͜ͱ͸ࠔ೉Ͱ͋Δ [23]ɽྫ͑͹ɼखࢦʹΑΔର৅෺ͷ೺Ѳಈ࡞Ͱ͸ɼର৅෺ͷ൓
ྗ͔Βൽෘදࡏͷ৮֮ड༰‫ث‬ͷΈͳΒͣਂ෦ͷѹ֮ड༰‫ث‬΋ܹࢗ͞ΕΔɽ͜ͷΑ͏ʹ৮֮
ͱѹ֮ͷ྆‫֮ײ‬Λ໌֬ʹ੾Γ෼͚Δ͜ͱ͸ࠔ೉Ͱ͋ΔͨΊɼҰൠతʹ͸৮ѹ֮ͱͯ͠औΓ
ѻΘΕΔ͜ͱ͕ଟ͍ [23] [24]ɽ
ਓ͕ؒԼࢶಈ࡞΍೺Ѳಈ࡞Λߦ͏ࡍͷӡಈϝΧχζϜͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷಇ͖Λ Fig.
ୈ1ষ
6
ং࿦
Motor function
Intention
Body
image
Trajectory
planning
Motion
Muscular
group
Physical
system
Visual sense
Vestibular sense
Proprioception
Skin䠄ex. Pressure sense)
Somatic sensation
Sensory function
Sensorimotor integration function
Fig. 1.2 Mechanism of voluntary movement
1.2 ʹࣔ͢ [26]- [32]ɽ͜ͷӡಈϝΧχζϜͷϒϩοΫઢਤ͸ɼਓ͕ؒਖ਼֬ͳਵҙӡಈΛ਱
ߦ͢Δࡍɼ೴಺Ͱ໨ඪʹ޲͚ͨ‫ي‬ಓΛੜ੒্ͨ͠ͰɼͦΕΛӡಈࢦྩͱͯ͠ਆ‫ܥܦ‬Λ௨͡
ͯӡಈ‫ػ‬ೳͰ͋Δ‫͍ͯ͑఻ʹܥ֨ࠎے‬Δ༷ࢠΛ͍ࣔͯ͠Δɽମੑ‫֮ײ‬ɼࢹ֮ɼલఉ֮ͷ‫ײ‬
֮৘ใΛ೴΁ͱϑΟʔυόοΫ͠ɼ࠶౓‫ي‬ಓΛੜ੒͠ɼӡಈࢦྩΛग़ྗ͢Δ͜ͱʹΑΓਵ
ҙӡಈͷਖ਼֬ੑΛ্͍͛ͯΔɽ͜ͷ೴಺ʹ͓͚Δ‫ي‬ಓΛੜ੒͠ɼӡಈࢦྩΛग़ྗ͢Δաఔ
ͷ‫ػ‬ೳΛӡಈࢦྩੜ੒‫ػ‬ೳͱΑͿ [33]ɽ͕ͨͬͯ͠ɼਓؒ͸ӡಈ࣮ࢪ‫ޙ‬ͷ֤‫֮ײ‬৘ใΛ೴
΁ͱϑΟʔυόοΫͯ͠ӡಈֶश͢Δ͜ͱʹΑΓ [26]- [30]ɼಈ࡞ͷ޼៛ੑΛ֫ಘ͠ɼ޼៛
ੑΛൃ‫͍ͯ͠ش‬Δɽͳ͓ɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ͍͏༻‫͍ͯͭʹޠ‬ɼࢀߟจ‫[ ݙ‬26]- [30] Ͱ͸ɼ
Ability to coordinate exertion of force [26]ɼਵҙӡಈͷ‫ے‬ऩॖաఔ͸ϑΟʔυόοΫ‫ػ‬ೳ
Λ༗͍ͯ͠Δ [27]ɼ೴ͷӡಈ੍‫ܥޚ‬Ϟσϧ [28]ɼSimple multimodal feedback modelɼ͋Δ
͍͸ Multisensory integration [29]ɼฒྻ֊૚੍‫ޚ‬ਆ‫ܦ‬ճ࿏ [30]ɼͱ༷ʑͳ༻‫Ͱޠ‬ද‫͞ݱ‬Ε
͓ͯΓ౷Ұ͞Ε͍ͯͳ͍ɽ͜ͷͨΊɼຊ࿦จͰ͸ɼ͜ΕΒͷ਎ମ‫ػ‬ೳΛ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳ
ͱ‫ݺ‬ΜͰ͍Δɽ
Ճྸ΍֎ইɾ࣬පʹΑΓ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳ͕௿Լ͢Δͱɼ޼៛ੑ΋௿Լ͢ΔͨΊɼ೔ৗ
ੜ‫ࢧʹ׆‬োΛ͖ͨ͠ QOL ͷ௿ԼͷΈͳΒͣɼస౗ࣄ‫Ͳͳނ‬ͷ‫্͕౓ݥة‬ঢ͢Δɽ͜ͷͨ
Ίɼ޼៛ੑΛ޲্ͤ͞ΔͨΊͷϦϋϏϦςʔγϣϯ͕ඞཁͱͳΔɽಛʹɼ޼៛ੑΛޮ཰ྑ
͘޲্ͤ͞ΔͨΊʹ͸ɼ௿Լͨ͠ӡಈ‫ػ‬ೳɼ͋Δ͍͸‫ػ֮ײ‬ೳʹ·Ͱࡉ෼Խͯ͠ධՁΛߦ
͍ɼ௿Լͨ͠‫ػ֮ײ‬ೳͷϦϋϏϦςʔγϣϯΛूதతʹߦ͏͜ͱ͕๬·͍͠ɽ͔͠͠ɼԼ
1.2. ޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ
7
ࢶಈ࡞΍೺Ѳಈ࡞ʹؔ͢Δ޼៛ੑͷఆྔతධՁ๏͸ཱ֬͞Ε͍ͯͳ͍ɽ·ͨɼ௿Լͨ͠‫ײ‬
֮‫ػ‬ೳΛಛఆ͢ΔͨΊʹ͸ɼ‫ʹ֮ײ‬ରܹͯࢗ͠Λ༩͑Δඞཁ͕͋Δɽಛʹɼ‫ݻ‬༗‫֮ײ‬͸ɼ‫ے‬
೑΍ؔઅͳͲͷਂ෦ʹଘࡏ͢Δ‫͋Ͱ֮ײ‬ΔͨΊɼܹࢗΛ༩͑Δํ๏ͱධՁ๏ཱ͕֬͞Εͯ
͍ͳ͍ɽ
Ҏ্ΑΓɼԼࢶಈ࡞ͱ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λ֬
ཱͰ͖Ε͹ɼྍ๏͕࢜τϨʔχϯάϓϩάϥϜΛઃ‫͢ܭ‬ΔࡍͷࢧԉͱͳΓɼ࣭తʹ΋ྔత
ʹ΋ॆ࣮ͨ͠ϦϋϏϦςʔγϣϯͷఏ‫͖Ͱݱ࣮͕ڙ‬Δͱߟ͑Δɽ
1.2.2
޼៛ੑͷఆྔతධՁʹؔ͢Δઌߦ‫ڀݚ‬
ɹ޼៛ੑͷఆྔతධՁʹؔ͢Δઌߦ‫঺͍ͯͭʹڀݚ‬հ͢Δɽ
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁʹؔ͢Δ‫ڀݚ‬͸‫ݟ‬౰ͨΒͣɼาߦಈ࡞ͷఆྔతධ
Ձʹؔ͢Δઌߦ‫ڀݚ‬͸ࢄ‫͞ݟ‬ΕΔ [34] [35]ɽาߦ͸ɼ઀஍͍ͯ͠Δย଍Λਐߦํ޲ʹҠಈ
ͯ͠࠶ͼ઀஍ͤ͞ΔԼࢶಈ࡞ͱɼͦͷಈ࡞ʹ൐ͬͯ਎ମͷॏ৺ΛҠಈͤ͞Δମ‫װ‬ಈ࡞Λ‫܁‬
Γฦ͢͜ͱʹΑΓ࣮‫͞ݱ‬ΕΔɽҰํɼస౗ΛҾ͖‫͢͜ى‬ཁҼͱͯ͠ɼ޼៛ੑͷ௿Լ͕‫͛ڍ‬
ΒΕ͓ͯΓ [36]ɼาߦͷલஈ֊ͱͯ͠ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷධՁͱτϨʔχϯά͸
ඇৗʹॏཁͰ͋Δɽ͔͠͠ɼาߦ΍ཱҐ͕ࠔ೉ͳ‫ʹऀױ‬ରͯ͠ɼԼࢶಈ࡞ͷ޼៛ੑΛධՁ
͢Δ͜ͱ͸ࠔ೉Ͱ͋Δɽ͜ͷͨΊɼาߦಈ࡞͔Βࡉ෼Խ͞ΕͨԼࢶಈ࡞ʹ͓͍ͯɼาߦೳ
ྗ͔Βࡉ෼Խ͞Εͨ޼៛ੑͷఆྔతධՁ๏ͷ։ൃ͕๬·ΕΔɽ
্ࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁʹؔ͢Δ‫ڀݚ‬͸ଟ਺ใࠂ͞Ε͍ͯΔɽ෱ҪΒ͸ [37]ɼ
λονηϯαΛਓࠩ͠ࢦͰ൓෮తʹԡ͠౰ͯΔ՝୊Λඃ‫ʹऀݧ‬༩͑ͯɼ՝୊ͷୡ੒࣌ؒͱ
໨ඪҐஔͷͣΕɼಈ࡞ྗͷ͹Β͖ͭΛධՁ͢Δ‫ثػ‬Λࢼ࡞͢Δ͜ͱʹΑΓɼ্ࢶಈ࡞ͷ޼
៛ੑΛධՁͨ͠ɽ௶Ҫ͸ [38]ɼϦϋϏϦςʔγϣϯ‫ݱ‬৔Ͱ༻͍ΒΕ͍ͯΔ্ࢶͷ޼៛ੑධ
Ձ‫۩ث‬ʢϖάϘʔυʣΛ࢖ͬͨ޼៛ಈ࡞ೳྗͷ‫͍͓ͯʹࠪݕ‬ɼ‫ʹऀࠪݕ‬ΑΔ‫ه‬࿥ͱ‫࡞ࢉܭ‬
‫ۀ‬Λࢧԉ͢ΔγεςϜΛఏҊ͢Δ͜ͱʹΑΓɼ্ࢶಈ࡞ͷ޼៛ੑΛධՁͨ͠ɽ͔͠͠ɼͲ
ͪΒͷઌߦ‫ڀݚ‬΋ɼ࡞‫ޙۀ‬ͷୡ੒౓ͷΈ͔ΒධՁ͓ͯ͠Γɼ࡞‫ۀ‬தͷ޼Έʹಈ࡞Λௐ੔͢
ΔೳྗΛධՁͰ͖͍ͯͳ͍ɽ͞Βʹɼ্ࢶಈ࡞͔Βࡉ෼Խ͞Εͨखࢦಈ࡞ʹ͓͚Δ޼៛ੑ
ͷΈΛධՁ͢Δ͜ͱ͕Ͱ͖͍ͯͳ͍ɽ·ͨɼதҪ͸ [39]ɼ೺Ѳಈ࡞ͱ্ࢶӡಈεΩϧͷؔ
܎Λղ໌͢ΔͨΊͷ‫ͯ͠ͱڀݚૅج‬ɼࢦෲͭ·Έɼਫ਼ີ೺Ѳɼ‫ྗڧ‬೺Ѳͷ 3 ༷ࣜͷ೺Ѳಈ
࡞ΛऔΓ্͛ɼѲྗ‫ͱܭ‬ಈͻͣΈ‫ܭ‬Λ༻͍ͨ૷ஔΛ༻͍ͯɼӡಈεΩϧͷ‫͔఺؍‬Β֤ʑͷ
ӡಈʹ͍ͭͯɼεϐʔυɼλΠϛϯάɼྗɼѹͷεΩϧཁૉʹ෼͚Δ͜ͱʹΑΓɼखࢦಈ
࡞ͱ্ࢶಈ࡞ͷ޼៛ੑΛධՁͨ͠ɽ͔͠͠ɼྟচ‫ݱ‬৔Ͱॏཁࢹ͞Ε͍ͯΔɼ೔ৗੜ‫׆‬ಈ࡞
ୈ1ষ
8
ং࿦
ʢActivities of daily livingɼADLʣͷධՁͱτϨʔχϯά΁ͷద༻͸ࠔ೉Ͱ͋Δɽ͜ͷͨΊɼ
೔ৗੜ‫׆‬ͷ৔໘Λ૝ఆͨ͠ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏͕๬·ΕΔɽ
1.2.3
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁʹؔ͢Δઌߦ‫ڀݚ‬
ɹ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳɼͳΒͼʹߏ੒͞ΕΔ֤‫ػ‬ೳͷఆྔతධՁʹؔ͢Δ‫঺͍ͯͭʹڀݚ‬հ
͢Δɽ
Fig. 1.2 ʹࣔͨ͠Α͏ʹɼ਎ମೳྗ͸਎ମ‫ػ‬ೳͰ͋Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳʹΑΓൃ‫͞ش‬Ε
Δɽ͕ͨͬͯ͠ɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳΛධՁ͢ΔͨΊʹ͸ɼಈ࡞ͷ࠷େύϑΥʔϚϯεͷධՁ
͢Δ͹ྑ͍ɽ͜ͷͨΊͷ࠷΋༗໊ͳํ๏ͱͯ͠ɼจ෦Պֶলମҭ‫͕ہ‬ఆΊͨࠃຽͷӡಈೳ
ྗΛௐࠪ͢ΔͨΊʹ࣮ࢪ͢Δ৽ମྗςετʢεϙʔπςετͱ΋‫Ϳݺ‬ʣ [40] ͕‫͛ڍ‬ΒΕΔɽ
ӡಈ‫ػ‬ೳΛධՁ͢ΔͨΊʹ͸ɼ୯७ͳӡಈʹ͓͚Δ࠷େൃ‫ྗش‬Λ‫ݟ‬Ε͹ྑ͍ɽ͜ͷͨΊ
ͷํ๏ͱͯ͠ɼମྗɾӡಈೳྗௐࠪ [41] ʹ͓͚ΔѲྗ‫ܭ‬ଌ΍ɼεϙʔπδϜͳͲʹઃஔ͞
Ε͍ͯΔϨοάϓϨε͕‫͛ڍ‬ΒΕΔɽ
ӡಈʹؔ܎͢Δ౷߹‫ػ‬ೳΛධՁ͢ΔͨΊʹ͸ɼඇ৵ऻత೴‫ػ‬ೳΠϝʔδϯά૷ஔΛ༻͍
ͨใࠂ͕਺ଟ͋͘Δ [42]- [44]ɽ୅දతͳ૷ஔͱͯ͠ɼ೴࣓ਤʢMagnetoencephalography,
MEGʣɼཅిࢠ์ࣹஅ૚౤Ө૷ஔʢPositron emission tomographyɼPETʣɼ‫ػ‬ೳ࣓֩‫ڞؾ‬
໐அ૚૷ஔʢFunctional magnetic resonance imagingɼfMRIʣɼۙ੺֎෼ޫΠϝʔδϯά
૷ஔʢNearʖnfrared spectroscopyɼNIRSʣ͕͋Δɽ
ӡಈʹؔ܎͢Δ‫ػ֮ײ‬ೳͷධՁʹ͍ͭͯɼࢹ֮ͱલఉ֮ͱൽෘ‫֮ײ‬͸ධՁ๏ཱ͕֬͞Ε
͍ͯΔɽࢹ֮͸ࢹྗ‫ʹͲͳࠪݕ‬ΑͬͯධՁՄೳͰ͋Γɼલఉ֮͸‫ࠪݕৼ؟‬΍ମฏߧ‫ػ‬ೳ‫ݕ‬
ࠪͳͲʹΑͬͯධՁՄೳͰ͋Δ [45]ɽ·ͨɼ৮ѹ֮͸ɼଠ͞ͷҟͳΔφΠϩϯ੡ϑΟϥϝ
ϯτʢSemmes weinstein monofilamentsɼSWMʣΛൽෘʹԡ͠౰ͯͯɼ‫ػ‬ցܹࢗʹΑΔ৮
ѹ֮ᮢ஋Λଌఆ͢Δํ๏ʹΑͬͯఆྔతධՁ͕ՄೳͰ͋ΔɽSWM ͸ɼཱҐ࢟੎͕ࠔ೉ͳ
‫ʹऀױ‬ରͯ͠΋ద༻Ͱ͖ΔͨΊɼ؆ศ͔ͭఆྔతͳ‫ͦͯ͠ͱ۩ثࠪݕ‬ͷ༗༻ੑ͕ใࠂ͞Ε
͍ͯΔ [46] [47]ɽ
1.2.4
‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁʹؔ͢Δઌߦ‫ڀݚ‬
ɹධՁ๏ཱ͕֬͞Ε͍ͯͳ͍‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁʹؔ͢Δ‫঺͍ͯͭʹڀݚ‬հ͢Δɽ‫ݻ‬༗
‫֮ײ‬͸ɼൽෘ‫ͱ֮ײ‬͸ҧ͍ਂ෦ʹଘࡏ͢ΔͨΊɼSWM ͷΑ͏ʹ֎෦͔ΒܹࢗΛ௚઀༩͑
Δ͜ͱ͕ࠔ೉Ͱ͋Δɽ͜ͷͨΊɼ༷ʑͳ޻෉ʹΑͬͯධՁ͕ߦΘΕ͍ͯΔɽ
1.2. ޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ
9
֤ؔઅʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷ‫ݕ‬౼ํ๏ʹ͍ͭͯɼࢹ֮Λः্ͬͨͰɼ(1) ଞಈతʹؔઅΛಈ
͔ͨ͠ࡍʹಈ͖Λ࠷ॳʹ‫͡ײ‬Δೳྗʢؔઅӡಈᮢ஋ʣΛଌఆ͢Δᮢ஋๏ɼ(2) Ұ୴ɼ͋ΔҐ
ஔʹઃஔ͞Εͨؔઅ֯౓ΛಉҰؔઅͰ࠶‫͢ݱ‬Δೳྗʢ֯౓࠶‫ݱ‬ೳʣΛଌఆ͢Δ֯౓࠶‫ݱ‬๏
͕ใࠂ͞Ε͍ͯΔ [50]ɽ͔͠͠ɼҰൠతͳྟচ‫ݱ‬৔Ͱͷར༻ʹ͓͍ͯɼؔઅ֯౓ͷਖ਼֬ͳ
‫ܭ‬ଌ͸ඇৗʹࠔ೉Ͱ͋Δɽ͜ͷͨΊɼ؆ศ͔ͭఆྔతͳධՁπʔϧ͕๬·ΕΔɽ
શ਎ಈ࡞Ͱ͋ΔཱҐอ࣋ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷධՁͱͯ͠ɼϩϯϕϧάࢼ‫[ ݧ‬48] ͕͋Δɽ
ϩϯϕϧάࢼ‫ݧ‬͸ɼ੸਷ͷ‫ࡧޙ‬ো֐ͷ༗ແΛධՁ͢ΔͨΊͷਆ‫ֶܦ‬తࢼ‫͋Ͱݧ‬Γɼ੩ࢭཱ
Ґͷॏ৺ಈ༳Λ։‫ͱ࣌؟‬ด‫Ͱ࣌؟‬ൺֱͨ݁͠Ռ͔Β‫ݻ‬༗‫֮ײ‬ΛఆੑతʹධՁ͍ͯ͠Δɽ͞
Βʹɼॏ৺ಈ༳‫ܭ‬Λ༻͍ͯɼॏ৺Ҡಈͷ‫੻ي‬௕ʹ͓͚Δด‫ཱ؟‬Ґ࣌ͱ։‫ཱ؟‬Ґ࣌ͷൺʢϩ
ϯϕϧά཰ʣΛࢉग़͢Δ͜ͱͰ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ͕ՄೳͱͳΔɽӬ୩Β͸ [49]ɼ‫ݻ‬༗
‫֮ײ‬ͷΈ͕௿Լͨ͠੸਷‫ࡧޙ‬ো֐‫ʹऀױ‬ϩϯϕϧάࢼ‫ͱݧ‬ϩϯϕϧά཰Λద༻͓ͯ͠Γɼ
ྟচ‫ݱ‬৔ʹ͓͍ͯ‫ݻ‬༗‫֮ײ‬ΛఆྔతʹධՁ͢ΔͨΊͷ༗ޮͳํ๏ʹͳΓಘΔͱใࠂ͍ͯ͠
Δɽ͔͠͠ɼཱҐอ͕࣋ࠔ೉ͳ੸਷‫ࡧޙ‬ো֐‫ऀױ‬͸ϩϯϕϧάࢼ‫ݧ‬ͷ࣮ࢪ͕ࠔ೉Ͱ͋Δͨ
ΊɼϦϋϏϦςʔγϣϯͷૣ‫ظ‬ஈ֊͔Βద༻Մೳͳ‫ݻ‬༗‫֮ײ‬ͷධՁ๏ͷཱ͕֬՝୊ͱͯ͠
࢒͞Ε͍ͯΔ [49]ɽ·ͨɼର৅෦Ґʹ͍ͭͯ͸ɼཱҐಈ࡞ʹඞཁͳ෦ҐͰ͸ͳ͘ɼยԼࢶ
ͣͭʹࡉ෼Խͯ͠ධՁΛߦ͏͜ͱ͕๬·ΕΔɽ͕ͨͬͯ͠ɼཱҐอ͕࣋ࠔ೉ͳ‫ʹऀױ‬ର͠
ͯɼยԼࢶͣͭࡉ෼Խͨ͠‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ͷཱ͕֬๬·ΕΔɽ
Ұํɼ্ࢶͷ‫ݻ‬༗‫֮ײ‬ͷධՁʹ͍ͭͯɼ༄੉Β͸ [51]ɼࢹ֮Λः্ͬͨͰɼ͋ΔҐஔʹ
ઃஔ͞ΕͨยखͷࢦΛ΋͏ҰํͷखͷࢦΛ߹ΘͤΔࢦ߹Θͤࢼ‫͏͍ͱݧ‬ख๏Ͱ೴ଔதยຑ
ᙺ‫ऀױ‬ͷ্ࢶͷ‫ݻ‬༗‫֮ײ‬ͷఆྔԽΛࢼΈ͍ͯΔɽ͔͠͠ɼର৅෦ҐΛखࢦؔઅͷΈʹࡉ෼
Խͯ͠ධՁ͢Δ͜ͱ͸ࠔ೉Ͱ͋Δɽ·ͨɼࢦ߹Θͤࢼ‫ݧ‬ͷධՁ‫ݪ‬ཧΛਅࣅͯɼยԼࢶΛ೚
ҙͷҐஔʹઃஔ͠ු͔ͤͨ··ঢ়ଶΛҡ࣋͢Δಈ࡞͸ߴྸऀ΍‫ͯͬͱʹऀױ‬ඇৗʹࠔ೉Ͱ
͋Δɽ͞Βʹɼ޼៛ੑͷఆྔతධՁ๏ͱಉ༷ʹɼྟচ‫ݱ‬৔Ͱ͸ ADL ʹର͢ΔධՁͱτϨʔ
χϯά͕ॏཁࢹ͞Ε͍ͯΔɽ͜ͷͨΊɼखࢦͷਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධ
Ձ๏ͷཱ͕֬๬·ΕΔɽ
1.2.5
ຊ‫͚͓ʹڀݚ‬ΔఆྔతධՁγεςϜͷ৽‫ن‬ੑ
ɹຊ‫Ͱڀݚ‬͸ɼྍ๏࢜Βͱͷҩ޻࿈‫ʹܞ‬ΑΓɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ
։ൃ͢Δɽ͜ͷͨΊʹɼԼࢶಈ࡞ͱਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ܭ‬ଌγεςϜΛ։ൃ͠ɼͦΕͧ
Εͷಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λ։ൃ͢Δɽຊ‫ͱڀݚ‬ઌߦ‫ڀݚ‬ͷൺֱ
Λ Fig. 1.3 ʹࣔ͢ɽຊ‫ڀݚ‬͸ઌߦ‫ͱڀݚ‬ൺֱͯ͠ɼධՁΛߦ͏ର৅෦Ґͷࡉ෼ԽɼͳΒͼ
10
ୈ1ষ
ং࿦
ʹධՁΛߦ͏਎ମ‫ػ‬ೳͱ਎ମೳྗͷࡉ෼ԽΛਤ͍ͬͯΔɽ
Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜͰ͸ɼ࠱ҐͰͷར༻ΛՄೳͱͨ͠γεςϜߏ੒Λ࣮‫͠ݱ‬ɼย଍
ʹ૷ணͨ͠σόΠεҐஔΛ‫ܭ‬ଌͰ͖ΔΑ͏ʹͨ͠ɽ͜ΕʹΑΓɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑ
ͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ͕࣮‫͖Ͱݱ‬Δͱͱ΋ʹɼཱҐอ͕࣋ࠔ೉ͳ‫Ͱऀױ‬΋ϦϋϏϦςʔ
γϣϯͷૣ‫ظ‬ஈ֊͔Βར༻ՄೳͱͳΔɽ·ͨɼ೺Ѳಈ࡞ͷ‫ܭ‬ଌγεςϜͰ͸ɼ೔ৗੜ‫Ͱ׆‬Α
͘‫ݟ‬ΒΕΔਫ਼ີ೺Ѳಈ࡞Λର৅ͱ͠ɼ೺ѲʹΑΓ೺ѲσόΠεʹՃ͑ΒΕͨ೺ѲྗΛஞ࣍
‫ܭ‬ଌͰ͖ΔΑ͏ʹͨ͠ɽ͜ΕʹΑΓɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ͕Մೳͱ
ͳΔɽ·ͨɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ͷલஈ֊ͱͯ͠ɼਫ਼ີ೺Ѳಈ
࡞࣌ͷൽෘ‫ݻͱ֮ײ‬༗‫ʹ֮ײ‬ରͯ͠ҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔ೺ѲσόΠεΛ։ൃͨ͠ɽ
ఏҊͷఆྔతධՁγεςϜ͸ɼઌߦ‫ڀݚ‬ͷٕज़త՝୊Λղܾ͠ಘΔ΋ͷͰ͋Δɽैདྷɼ
ྍ๏࢜ͷ‫ʹݧܦ‬ґଘ͍ͯͨ͠ओ‫؍‬తධՁʹରͯ͠ɼఆྔతͳ৘ใΛఏ‫͢ڙ‬Δͱͱ΋ʹɼޮ
ՌతͳϦϋϏϦςʔγϣϯͷͨΊͷ৽ͨͳ஌‫ݟ‬Λ૑ग़Ͱ͖Δͱߟ͑Δɽ·ͨɼԼࢶಈ࡞ͷ
ఆྔతධՁγεςϜ͸ɼԼࢶಈ࡞ʹ‫ݶ‬Βͣଞͷ਎ମ෦Ґͷෳ߹ؔઅӡಈʹద༻ՄೳͰ͋Γɼ
ਫ਼ີ೺Ѳಈ࡞ͷఆྔతධՁγεςϜ͸ɼ೺Ѳಈ࡞ʹ‫ݶ‬Βͣଞͷ਎ମ෦Ґͷ୯ؔઅӡಈʹద
༻Մೳͱ͍͏ಛ௃Λ༗͢Δɽ͜͜Ͱɼෳ߹ؔઅӡಈ͸ɼගؔઅͱ‫ؔݞ‬અΛར༻্ͨ͠ࢶͷ
‫ڠ‬ௐಈ࡞ͳͲ 2 ͭҎ্ͷؔઅΛಉ࣌ʹಈ͔͢ӡಈΛࢦ͠ɼ୯ؔઅӡಈ͸ɼගؔઅ΍‫ؔݞ‬અ
ͷΈͷ 1 ͭͷؔઅΛಈ͔͢ӡಈΛࢦ͢ɽ͕ͨͬͯ͠ɼຊ‫ڀݚ‬੒ՌΛγʔζͱ༷ͨ͠ʑͳϦ
ϋϏϦςʔγϣϯ‫ثػ‬ͷ࣮༻Խ΍੡඼Խ͕‫ظ‬଴Ͱ͖Δɽ
1.2. ޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ
11
ୗ⫥ືస䜢ྵ䜐඲㌟䛻䛚䛡䜛ᕦ⦓ᛶ䛸ᅛ᭷ឤぬ䛾ᐃ㔞ⓗホ౯䛻㛵䛩䜛◊✲
Ṍ⾜⬟ຊࡢ
ᕦ⦓ᛶࡢ
ᐃ㔞ⓗホ౯ ᐃ㔞ⓗホ౯
඲㌟
P Ṍ⾜ࡢṌᩘ࡜
‫ۑ‬㸦❧఩㸧
㐩ᡂ㏿ᗘ>@>@
㛢║㛤║ࡢ
ඛ⾜
❧఩ࣂࣛࣥࢫࡢẚ
◊✲
>@>@
ᅛ᭷ឤぬࡢᐃ㔞ⓗホ౯
ୗ⫥
඲㌟
ୗ⫥
‫ۑ‬㸦❧఩㸧
ᑐ㇟㒊఩䛸⬟ຊ
䛾⣽ศ໬
ᑐ㇟㒊఩䛾⣽ศ໬
㛢║㸪㛵⠇ゅᗘࡢ
෌⌧ㄢ㢟>@
‫ۑ‬㸦ᆘ఩㸧
❶
‫ۑ‬㸦ᆘ఩㸪
㍍ᗘ㸧
‫ۑ‬㸦ᆘ఩㸪
㔜ᗘ㸧
‫ۑ‬㸦ᆘ఩㸧
ᮏ
◊✲
❶
⬟ຊ䛾⣽ศ໬
ᐃ㔞໬
ᡭᣦືస䜢ྵ䜐ୖ⫥ືస䛻䛚䛡䜛ᕦ⦓ᛶ䛸ᅛ᭷ឤぬ䛾ᐃ㔞ⓗホ౯䛻㛵䛩䜛◊✲
ᕦ⦓ᛶࡢᐃ㔞ⓗホ౯
ୖ⫥
ᡭᣦ
ୖ⫥
ᡭᣦ
㛢║㸪ᣦྜࢃࡏ
ㄢ㢟>@
‫ۑ‬㸦ᅛ᭷㸧
㛢║㸪⓶⭵࡬ࡢ
ᶵᲔ่⃭>@>@
‫ۑ‬㸦⓶⭵㸧
‫ۑ‬㸦⓶⭵㸧
ඛ⾜
◊✲ ᑐ㇟≀ࢆ⛣ືࡍࡿㄢ
㢟ࡢ㐩ᡂ᫬㛫࡜ṇ☜
ᛶ>@>@
ᮏ
◊✲
యᛶឤぬ㸦ᅛ᭷ឤぬ㸪⓶⭵ឤぬ㸧
ࡢᐃ㔞ⓗホ౯
ᑐ㇟㒊఩䛾⣽ศ໬
‫ۑ‬
ᑐ㇟㒊఩䛾⣽ศ໬
ᑐ㇟≀ࢆ⛣ືࡍࡿ
ㄢ㢟ࡢᢕᥱຊ>@
‫ۑ‬㸦ᇶ♏㸧
❶
‫ۑ‬㸦⮫ᗋ㸧
❶
⬟ຊ䛾⣽ศ໬
ᶵ⬟䛾⣽ศ໬
‫ۑ‬㸦ᅛ᭷
㸦⓶⭵㸧
㸧
Fig. 1.3 Comparison between this study and the previous study
ୈ1ষ
12
1.3
ং࿦
ຊ‫ڀݚ‬ͷ໨త
ɹຊ‫ڀݚ‬ͷ໨త͸ɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃ͢Δ͜ͱͰ͋Δɽͦͷ
ͨΊʹɼԼࢶಈ࡞ͱ೺Ѳಈ࡞ʹ͓͚Δ‫ܭ‬ଌγεςϜΛ։ൃ͢Δඞཁ͕͋Γɼ޼៛ੑͱ‫ݻ‬༗
‫֮ײ‬ͷఆྔతධՁ๏Λ։ൃ͢Δඞཁ͕͋Δɽ֤ষʹ͓͚Δ໨తΛҎԼʹ·ͱΊΔɽ
ୈ 2 ষ Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃ͢Δɽ͜ͷͨΊʹɼԼࢶಈ࡞
ͷԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ։ൃ͢Δɽ·ͨɼԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ༻͍ͨ޼៛
ੑͷఆྔతධՁ๏Λ։ൃ͠ɼྟচࢼ‫͔ݧ‬Β༗ޮੑΛ‫͢ূݕ‬Δɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃ͢Δɽ͜ͷͨΊʹɼୈ 2 ষ
Ͱ։ൃͨ͠‫ܭ‬ଌγεςϜΛ༻͍ͨ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λ։ൃ͠ɼྟচࢼ‫͔ݧ‬Β༗
ޮੑΛ‫͢ূݕ‬Δɽ
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃ͢Δɽ͜ͷͨΊʹɼ೺Ѳ
ྗͷ‫ܭ‬ଌγεςϜͱॏྔՄม૷ஔΛ։ൃ͢Δɽ·ͨɼ͜ΕΒͷ‫ܭ‬ଌγεςϜΛ༻͍ͨ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃ͠ɼྟচࢼ‫͔ݧ‬Β༗ޮੑΛ‫ূݕ‬
͢Δɽ
ୈ 5 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ΛఆྔతධՁ͢ΔͨΊͷ೺ѲσόΠεΛ։ൃ͢Δɽ
͜ͷͨΊʹɼਓؒͷ೺Ѳಈ࡞ʹҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔ೺ѲσόΠεΛ։ൃ͠ɼ
ྟচࢼ‫͔ݧ‬Β༗ޮੑΛ‫͢ূݕ‬Δɽ
1.4
ຊ࿦จͷ֓ཁ
ɹຊ࿦จ͸ 6 ͭͷষͰߏ੒͞Ε͓ͯΓɼ֤ষͷ֓ཁ͸ҎԼͷ௨ΓͰ͋Δɽ
ୈ 1 ষ͸ংষͰ͋Γɼຊ‫ڀݚ‬ͷഎ‫ܠ‬ɼͳΒͼʹઌߦ‫ڀݚ‬Λઆ໌͠ɼղܾ͢΂͖՝୊Λ‫ڍ‬
͛ɼຊ‫ڀݚ‬ͷ৽‫ن‬ੑͱ໨తΛ໌֬ʹ͍ͯ͠Δɽ
ୈ 2 ষͰ͸ɼྟচ‫ݱ‬৔ͷχʔζΛ‫ʹج‬։ൃͨ͠Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛઆ໌͠ɼԼࢶ
ಈ࡞ͷ‫ܭ‬ଌγεςϜΛ༻͍ͨ޼៛ੑͷఆྔతධՁ๏ɼͳΒͼʹྟচࢼ‫͍ͯͭʹݧ‬આ໌͢Δɽ
Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜ͸ɼ࠱Ґʹͯย଍ʹ૷ணͨ͠σόΠεΛচ໘্Ͱ‫׈‬Βͤͯར༻͢
ΔͨΊɼཱҐอ͕࣋ࠔ೉ͳ‫Ͱऀױ‬΋ར༻Ͱ͖Δɽ͞ΒʹɼσόΠεͷೋ࣍‫ݩ‬ฏ໘্ͷಈ͖Λ
ஞ࣍‫ܭ‬ଌ͠ɼը໘ʹϙΠϯλͷಈ͖Λදࣔ͢ΔͨΊɼඃ‫ऀݧ‬͸ࣗ਎ͷԼࢶΛ௚઀‫ͯ͘ͳݟ‬
΋ɼը໘্ʹө͠ग़͞ΕͨϙΠϯλͷಈ͖ͷΈ͔Β଍ͷಈ͖Λೝࣝ͢Δ͜ͱ͕Ͱ͖Δɽ·
1.4. ຊ࿦จͷ֓ཁ
13
ͨɼ޼៛ੑΛධՁ͢ΔͨΊʹ೉қ౓ͷҟͳΔ‫੻ي‬௥ै՝୊Λઃఆ͠ɼ଎͞Λ޼៛ੑͷධՁ
ࢦඪͱͨ͠ఆྔతධՁ๏Λ։ൃ͍ͯ͠ΔɽҎ্ͷԼࢶಈ࡞ͷ‫ܭ‬ଌ૷ஔɼͳΒͼʹఏҊධՁ
๏ͷ༗ޮੑ͸ɼ޼៛ੑͷ௿Լͨ͠੸਷‫ࡧޙ‬ো֐‫ऀױ‬Λର৅ͱͨ͠ྟচࢼ‫͍ͯ͠ূݕͰݧ‬Δɽ
ୈ 3 ষͰ͸ɼୈ 2 ষͰ։ൃͨ͠Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬
༗‫֮ײ‬ͷఆྔతධՁ๏ɼͳΒͼʹྟচࢼ‫͍ͯͭʹݧ‬આ໌͢Δɽ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫ײ‬
֮Λಉ࣌ʹධՁ͢ΔͨΊʹ୯Ұํ޲͔ͭɼਖ਼֬͞Λॏࢹ͢Δ‫੻ي‬௥ै՝୊Λઃఆ͍ͯ͠Δɽ
·ͣɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳΛධՁ͢ΔͨΊʹɼୈ 2 ষͷ޼៛ੑͱಉ༷ʹ՝୊ʹ͓͚Δ଎͞Λ
ධՁ஋ͱͨ͠ఆྔతධՁ๏ΛఏҊ͍ͯ͠Δɽ࣍ʹɼ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹɼ՝୊ʹ͓
͚Δਖ਼֬͞Λࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫͷ༗ແͰൺֱ͍ͯ͠Δɽ͜ΕΒͷ
ఏҊධՁ๏ͷ༗ޮੑ͸ɼ‫ݻ‬༗‫֮ײ‬ͷ௿ԼʹΑΓ޼៛ੑ͕௿Լͨ͠ߴྸ݈ৗऀͱए೥݈ৗऀɼ
ͳΒͼʹಉ೥୅ಉੑͷ੸਷‫ࡧޙ‬ো֐‫݈ͱऀױ‬ৗऀΛର৅ͱͨ͠ྟচࢼ‫͍ͯ͠ূݕͰݧ‬Δɽ
ୈ 4 ষͰ͸ɼྟচ‫ݱ‬৔ͷχʔζΛ‫ʹج‬։ൃͨ͠ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ೺Ѳྗ‫ܭ‬ଌγες
ϜΛઆ໌͠ɼ‫ܭ‬ଌγεςϜΛ༻͍ͨ޼៛ੑͷఆྔతධՁ๏ɼͳΒͼʹྟচࢼ‫͍ͯͭʹݧ‬આ
໌͢Δɽ‫ܭ‬ଌγεςϜͷ೺ѲσόΠε͸Ճ͑ΒΕͨ೺ѲྗͷมԽ͢Δ༷ࢠΛ໨ࢹͰ͖ΔΑ
͏ʹ஄ੑମͱ͠ɼ೺ѲྗΛ‫ܭ‬ଌͰ͖ΔΑ͏ʹ࿪ΈήʔδΛར༻͍ͯ͠Δɽ·ͨɼ೺ѲྗΛ
ௐ੔͢Δ՝୊Λઃ‫͢ܭ‬ΔͨΊʹɼ೺ѲσόΠεͷ্࣋ͪ͛ߴ͞ʹԠͯ͡ॏྔ͕࣌ؒมԽ͢
ΔॏྔՄม૷ஔΛ։ൃ͍ͯ͠Δɽਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑΛධՁ͢ΔͨΊʹɼ‫ܭ‬ଌγ
εςϜΛ༻͍ͨ޼៛ੑͷఆྔతධՁ๏Λ։ൃ͠ɼए೥݈ৗऀͷར͖खͱඇར͖खΛൺֱ͠
ͨྟচࢼ‫Ͱݧ‬༗ޮੑΛ֬ೝ͍ͯ͠Δɽ
ୈ 5 ষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊͷ೺ѲσόΠεʹ͍ͭͯઆ
໌͠ɼఏҊσόΠεͷ༗ޮੑΛ‫͢ূݕ‬ΔͨΊͷྟচࢼ‫͍ͯͭʹݧ‬આ໌͢Δɽਫ਼ີ೺Ѳಈ࡞
ʹ͓͚Δ‫ݻ‬༗‫ͱ֮ײ‬ൽෘ‫֮ײ‬Λ‫ݸ‬ผʹఆྔతධՁ͢ΔͨΊʹɼ೺ѲσόΠεͷม‫ྔܗ‬ʵ൓
ྗಛੑʹ͍ͭͯઢ‫ܗ‬ಛੑͱ๞࿨ಛੑΛ࣮‫͠ݱ‬ɼ೺Ѳ࣌ʹҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔΑ͏
ʹ͍ͯ͠Δɽ೺ѲσόΠεͷ༗ޮੑ͸ɼม‫ྔܗ‬ʵ൓ྗಛੑͷҧ͍͕ए೥݈ৗऀͷ೺Ѳಈ࡞
ʹରͯ͠ҟͳΔ‫͕ܹ֮ࢗײ‬༩͑ΒΕΔ͜ͱΛ֬ೝ͢Δ͜ͱʹΑΓ‫͍ͯ͠ূݕ‬Δɽ
ୈ 6 ষͰ͸ɼຊ‫Ͱڀݚ‬ಘΒΕͨ੒ՌΛ·ͱΊɼຊ‫͞࢒Ͱڀݚ‬Εͨ՝୊Λड़΂Δͱ‫ࠓʹڞ‬
‫ޙ‬ͷల๬ʹ͍ͭͯ‫͍ͯ͠ٴݴ‬Δɽ
15
ୈ2 ষ
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
2.1
͸͡Ίʹ
ɹୈ 2 ষͱୈ 3 ষͰड़΂Δ‫ڀݚ‬੒Ռ͸ɼ໊‫ݹ‬԰େֶҩֶ෦ෟଐපӃϦϋϏϦςʔγϣϯ෦
ͷཧֶྍ๏࢜ɼͳΒͼʹಉපӃҩֶ෦੔‫֎ܗ‬Պͷ੸௣֎Պҩࢣͱͷ‫ڞ‬ಉ‫ʹڀݚ‬ΑΔ΋ͷͰ
͋Δɽ͜͜Ͱ͸ɼҩ޻࿈‫ܞ‬ͷ͸͡·Γ͔Β‫ڀݚ‬എ‫ܠ‬ɼχʔζʹ‫ͮ͘ج‬ཁ‫༷࢓ٻ‬ͷࡦఆͱ‫ݚ‬
‫ڀ‬໨తΛड़΂Δɽ
ຊ‫ڀݚ‬ͷҩ޻࿈‫ܞ‬͸ɼ2008 ೥य़ʹචऀ໊͕‫ݹ‬԰େֶҩֶ෦ෟଐපӃϦϋϏϦςʔγϣϯ
෦͕ॴଂ͢ΔਤॻΛआΓΔͨΊʹ๚໰ͨ͜͠ͱ͕͸͡·ΓͰ͋Δɽಉ೥ 5 ݄຤ࠒ͔Βɼಉ
පӃͷ੸਷਷಺जᙾͱ੸਷‫ࡧޙ‬ো֐ʹؔ͢Δ‫ڀݚ‬άϧʔϓ͕ຖि 1 ճ։࠵͢Δ࿦จঞಡձ
ʹචऀ΋ࢀՃ͢Δ͜ͱͱͳΓɼϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ʹ͓͚Δ՝୊ͷཧղɼͳΒ
ͼʹχʔζͷൃ۷ʹ౒Ίͨɽ͜͜Ͱɼ੸਷਷಺जᙾͱ͸ɼ੸਷಺ʹൃੜͨ͠जᙾΛࢦ͢ɽ·
ͨɼ੸਷‫ࡧޙ‬ো֐ͱ͸ɼ‫ݻ‬༗‫֮ײ‬ͷΈͷ௿ԼʹΑΓ޼៛ੑͷ௿ԼΛདྷͨͨ͠ಛघͳ঱ྫΛ
ࢦ͢ɽ੸਷਷಺जᙾͷఠग़ज़͸ɼ੸਷‫΁ࡧޙ‬ͷҰաੑͷμϝʔδΛආ͚Δ͜ͱ͕೉͍ͨ͠
Ίɼखज़௚‫ʹޙ‬͸ߴ͍֬཰Ͱ‫ݻ‬༗‫֮ײ‬ͷΈ͕Ұ࣌తʹ௿Լ͢Δ [52] ͱใࠂ͞Ε͍ͯΔɽ
ਓ͕ؒ೔ৗੜ‫Ͱ׆‬Լࢶಈ࡞Λߦ͏࣌ɼࣗ෼ͷମͷಈ͖Λ໨ࢹͰ֬ೝ͠ͳͯ͘΋࣮ࢪͰ͖
Δɽྫ͑͹ɼ֊ஈͷঢ߱ಈ࡞Λߦ͏৔߹ɼࢹ֮৘ใ͸ো֐෺ͷ֬ೝʹར༻͢Δఔ౓Ͱ͋Δɽ
͜Ε͸ɼ೴͕ࣗ෼ͷ଍ͷҐஔ΍ಈ͖Λɼࢹ֮ʹґΒͣͱ΋଍ཪͷൽෘ‫֮ײ‬΍֤ؔઅ΍‫ے‬ͷ
‫ݻ‬༗‫֮ײ‬Λ௨ͯ͠஌Δ͜ͱ͕Ͱ͖Δ͔ΒͰ͋Δɽ͜ͷΑ͏ͳಈ࡞͸ɼFig. 1.2 ʹࣔ͢‫֮ײ‬
ӡಈ౷߹‫ػ‬ೳʹΑΓ࣮‫͞ݱ‬Ε͍ͯΔɽ
Ճྸ΍࣬පɾ֎ইʹΑΓɼԼࢶͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳ͕௿Լ͢Δͱɼาߦಈ࡞΍Լࢶಈ࡞ʹ
Ө‫ڹ‬Λ༩͑ɼ೔ৗੜ‫ࢧʹ׆‬োΛ͖ͨ͢ɽಛʹɼ‫ݻ‬༗‫֮ײ‬ͷ௿Լ΍ো֐͸ɼಈ࡞ͷ޼៛ੑʹ
ѱӨ‫ڹ‬Λ‫͠΅ٴ‬స౗ࣄ‫ނ‬ͷ‫૿͕౓ݥة‬Ճ͢Δɽ·ͨɼॏ౓ͷ੸਷‫ࡧޙ‬ো֐Λఄ͢Δͱɼ‫ݻ‬
༗‫֮ײ‬ͷஶ͍͠௿ԼʹΑΓด‫ࣗʹ࣌؟‬਎ͷಈ࡞ΛೝࣝͰ͖ͳ͘ͳΔͨΊɼৗʹಈ࡞Λ໨ࢹ
Ͱ֬ೝ͢Δඞཁ͕͋Δɽ͜ͷͨΊɼ‫ݻ‬༗‫޼ͱ֮ײ‬៛ੑͷճ෮΍޲্ͷͨΊͷτϨʔχϯάɼ
ͳΒͼʹఆྔతධՁ๏͕‫͘ڧ‬๬·Ε͍ͯΔɽ͔͠͠ɼୈ 1 ষͰ΋ड़΂ͨΑ͏ʹԼࢶಈ࡞ʹ
͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁʹؔ͢Δใࠂ͸ଘࡏ͠ͳ͍ɽҰํͰɼFassoli Β [53]ɼ
ୈ2ষ
16
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
‫૳ݹ‬Β [54]ɼͳΒͼʹҪ্Β [55] ͸ɼ্ࢶͰૢ࡞͢ΔσόΠεͷಈ͖Λը໘ʹදࣔͤ͞Δ
ࢹ֮৘ใͷόΠΦϑΟʔυόοΫΛ༻͍ͨτϨʔχϯάɾධՁ‫ثػ‬ΛఏҊ͓ͯ͠Γɼ‫֮ײ‬
ӡಈ౷߹‫ػ‬ೳ͕௿Լͨ͠೴ଔதยຑᙺ‫ʹऀױ‬ద༻ͨ݁͠Ռ͔Βɼ‫ʹثػ‬ΑΔධՁ݁Ռͱτ
Ϩʔχϯά݁Ռͷ༗ޮੑΛใࠂ͍ͯ͠Δɽಉ༷ͷ‫ػ‬ೳΛ༗͢ΔԼࢶಈ࡞༻ͷϦϋϏϦςʔ
γϣϯ‫ثػ‬ͷ։ൃʹର͢Δ‫ظ‬଴͸େ͖͘ɼ࣮ࡍʹ͜ͷΑ͏ͳ‫ثػ‬Λ࡞ͬͯ΄͍͠ͱ͍͏χʔ
ζ͕͋ͬͨɽ͔͠͠ɼઌߦ‫ڀݚ‬ͷख๏ΛԼࢶಈ࡞ʹద༻͢Δ͜ͱ͸ɼ‫ثػ‬ͷαΠζͱίε
τͷ໰୊͔Βࠔ೉Ͱ͋Δͱߟ͑ΒΕͨɽ
ຊ‫Ͱڀݚ‬͸ྟচ‫ݱ‬৔ͷχʔζʹ‫͖ͮج‬ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜ
Λ։ൃ͢Δɽྟচ‫ݱ‬৔ͷχʔζͱͯ͠ɼϦϋϏϦςʔγϣϯͷૣ‫ظ‬ஈ֊͔Βͷར༻ՄೳͰ
͋Δ͜ͱɼର৅෦ҐΛࡉ෼ԽͰ͖Δ͜ͱ͕‫͛ڍ‬ΒΕ͓ͯΓɼาߦͷલஈ֊ͱͯ͠ɼ೚ҙͷ
ਐߦํ޲ʹย଍ΛҠಈ͢ΔԼࢶಈ࡞ͷධՁ΍τϨʔχϯά͕ඞཁͱ͞Ε͍ͯΔɽ
ຊষͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃ͢ΔͨΊʹɼཱҐอ࣋
͕ࠔ೉ͳ‫Ͱऀױ‬΋ར༻ՄೳͳԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜɼͳΒͼʹԼࢶಈ࡞ʹ͓͚Δ޼៛ੑ
ͷఆྔతධՁ๏Λ։ൃ͠ɼ͜ΕΒͷ༗ޮੑ‫ূݕ‬ͷͨΊͷྟচࢼ‫ݧ‬Λߦ͏ɽྟচࢼ‫Ͱݧ‬͸ɼ‫ݻ‬
༗‫֮ײ‬ͷ௿Լʹ൐͍Լࢶͷ޼៛ੑ͕௿Լͨ͠੸਷਷಺जᙾखज़‫ऀױ‬ʢҎԼɼ‫Ϳݺͱऀױ‬ʣΛ
ର৅ʹɼఏҊ‫ܭ‬ଌγεςϜͱఏҊධՁ๏ͷ༗ޮੑΛ‫͢ূݕ‬Δɽ·ͨɼ࣍ষͰड़΂Δ‫ݻ‬༗‫֮ײ‬
ͷఆྔతධՁͷલஈ֊ͱͯ͠ɼఏҊ‫ܭ‬ଌγεςϜʹΑΔࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔ
υόοΫޮՌ΋֬ೝ͢Δɽ
2.2
2.2.1
Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜ
໨త
ɹຊઅͰ͸ɼ࣍અͰड़΂Δ޼៛ੑͷఆྔతධՁͱɼ࣍ষͰड़΂Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁͷ
ͨΊͷԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ։ൃ͢Δ͜ͱΛ໨తͱ͢Δɽ͜ͷͨΊʹɼ‫ܭ‬ଌγεςϜ
͸ɼ‫ྗے‬ͷ௿ԼͳͲʹΑΓཱҐอ͕࣋ࠔ೉ͳ‫Ͱऀױ‬΋ར༻ՄೳͰ͖ΔΑ͏ʹɼ࠱Ґ࢟੎Ͱ
ԼࢶશମΛු͔ͤΔඞཁ͕ͳ͍ߏ଄ͱ͢Δɽ·ͨɼಈ࡞தͷ଍ͷಈ͖Λஞ࣍‫ܭ‬ଌͰ͖ΔΑ
͏ʹ͠ɼࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫͱ఍߅‫ײ‬ͷఏࣔΛ࣮‫͢ݱ‬Δɽ
2.2.2
‫ܭ‬ଌγεςϜ
ɹ։ൃͨ͠γεςϜͷ֎‫؍‬Λ Fig. 2.1 ʹࣔ͢ɽϋʔυ΢ΣΞͷߏ੒͸ɼϊʔτ PCɼ੍‫ޚ‬
ϘοΫεɼτϨʔχϯάσόΠεʢҎԼɼσόΠεͱ‫Ϳݺ‬ʣɼͳΒͼʹτϨʔχϯάϘʔυ
2.2. Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜ
17
Fig. 2.1 Rehabilitation system of lower limb
͔ΒͳΔɽఏҊ‫ܭ‬ଌγεςϜͷཁ‫༷࢓ٻ‬Λड़΂Δɽ·ͣɼ࠱ҐͰ΋ར༻Ͱ͖ΔΑ͏ʹɼτ
ϨʔχϯάϘʔυ্ͰσόΠεΛ‫׈‬Βͤͯಈ͔͢͜ͱʹΑΔ࢖༻ํ๏ͱͨ͠ɽ࣍ʹɼ޼៛
ੑΛఆྔతධՁ͢ΔͨΊʹɼσόΠεͷಈ͖Λஞ࣍‫ܭ‬ଌͰ͖ΔΑ͏ʹͨ͠ɽ·ͨɼ‫֮ײ‬ӡ
ಈ౷߹‫ػ‬ೳΛӡಈ‫ػ‬ೳͱ‫ػ֮ײ‬ೳʹࡉ෼Խͯ͠ఆྔతධՁ͢ΔͨΊʹɼσόΠεͷಈ͖Λ
ϊʔτ PC ͷը໘ʹදࣔ͢Δࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫΛ࣮‫ͨ͠ݱ‬ɽͦ͠
ͯɼ‫ݸ‬ʑͷ‫߹ʹऀױ‬Θͤͯ՝୊ͷ೉қ౓Λมߋ͢ΔͨΊʹɼσόΠεΛ‫׈‬Βͤͯಈ͔͢ࡍ
ʹ఍߅‫ײ‬Λ༩͑ΒΕΔΑ͏ʹ͠ɼը໘ʹ౤Ө͞ΕΔίʔεΛมߋՄೳͱͨ͠ɽ۩ମతͳ࢓
༷ʹ͍ͭͯԼ‫ࣔ͢ʹه‬ɽ
ඃ‫ऀݧ‬͸ɼ࠱Ґʹͯը໘্ͷσόΠεҐஔʢҎԼɼϙΠϯλͱ‫Ϳݺ‬ʣΛ໨ࢹͰ֬ೝ͠ͳ͕
Βɼ଍ཪ໘ʹ૷ணͨ͠σόΠεΛচ໘ͷτϨʔχϯάϘʔυ্Ͱಈ͔ͯ͠ૢ࡞Λߦ͏ɽ͜
͜Ͱ࠱Ґͱ͸ɼFig. 2.1 ʹࣔ͢Α͏ʹɼϕου΍Ҝࢠͷ୺ʹ྆ԼࢶΛਨΒͯ͠ࠊ͔͚Δ࢟੎
Λࢦ͢ɽͳ͓ɼ͜ͷϙΠϯλͷಈ͕ಈ͘ҠಈྔͱσόΠε͕ಈ͘Ҡಈྔ͸ɼ1:1 ͷεέʔϧ
ͰσόΠεͷಈ͖ͱಉ‫͍ͯͤ͞ظ‬Δɽͳ͓ɼඃ‫͕ऀݧ‬σόΠεΛࠨӈʹ‫׈‬Βͤͯಈ͔͢ͱ
ϙΠϯλ͸ࠨӈʹಈ͖ɼσόΠεΛલ‫׈ʹޙ‬Βͤͯಈ͔͢ͱϙΠϯλ͸্Լʹಈ͘ɽ·ͨɼ
ಈ࡞தʹσόΠεΛු͔ͤͯ͠·͏ͱ‫ܭ‬ଌͰ͖ͳ͍ͨΊɼඃ‫ʹऀݧ‬஫ҙΛଅ͢ඞཁ͕͋Δɽ
σόΠε಺ʹ͸ɼPC Ϛ΢ε͕σόΠεͷத৺ʹ 1 ͭͱి࣓ੴ͕࢛۱ʹ 1 ͭͣͭ૊Έࠐ·
Ε͍ͯΔɽPC Ϛ΢εΛ༻͍Δ͜ͱͰɼσόΠεͷҐஔΛ஌Δ͜ͱ͕Ͱ͖Δɽ͜ΕʹΑΓɼ
ϊʔτ PC ͷը໘ʹσόΠεͷҐஔΛදࣔ͠ɼ଍ͷಈ͖Λࢹ֮తʹఏࣔ͢Δ͜ͱ͕Մೳͱ
ͳΔɽ͕ͨͬͯ͠ɼඃ‫ऀݧ‬͸ࣗ਎ͷԼࢶΛ௚઀‫ͯ͘ͳݟ‬΋ɼը໘্ʹө͠ग़͞ΕͨϙΠϯλ
ͷಈ͖ͷΈ͔Β଍ͷಈ͖Λೝࣝ͢Δ͜ͱ͕Ͱ͖Δɽ͜ΕΛࢹ֮΁ͷӡಈ৘ใͷఏࣔʹΑΔ
όΠΦϑΟʔυόοΫͱ‫Ϳݺ‬ɽ·ͨɼτϨʔχϯάϘʔυ͸మ੡ͷ൘Ͱ͋ΔͨΊɼ੍‫ޚ‬Ϙο
ୈ2ষ
18
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
Ϋε಺ͷϚΠίϯ͔Βి࣓ੴΛ PWM ੍‫͢ޚ‬Δ͜ͱͰɼి࣓ੴΛτϨʔχϯάϘʔυͱͷ
ؒʹ࠷େ 10N ͷ‫ٵ‬ҾྗΛಇ͔ͤΔ͜ͱ͕Ͱ͖ΔɽσόΠε͕ಈ͔͞ΕΔࡍʹఏࣔ͢Δ‫ٵ‬Ҿ
ྗͷେ͖͞΍ఏࣔ࣌ؒΛมߋ͢Δ͜ͱʹΑΓɼඃ‫ऀݧ‬͸ఀࢭ‫ײ‬΍Ԝತ‫Ͳͳײ‬ͷ఍߅‫ײ‬Λ‫ײ‬
͡Δ͜ͱ͕Մೳͱͳ͍ͬͯΔɽ͜ΕΒͷ఍߅‫ʹײ‬ΑΓ‫ݻ‬༗‫΁֮ײ‬ͷܹࢗΛ࣮‫͍ͯ͠ݱ‬Δɽ
͜ͷΑ͏ͳ଍ͷಈ͖ͷࢹ֮৘ใͱɼ଍ͷܹࢗͱͳΔ఍߅‫ײ‬ͷఏࣔํ๏͸ɼྍ๏࢜ͷχʔ
ζʹԠͯ͡༰қʹมߋ͢Δ͜ͱ͕ՄೳͰ͋Γɼ༷ʑͳ࣬‫ʹױ‬దԠͰ͖Δͱߟ͑ΒΕΔɽ·
ͨɼఏҊ‫ܭ‬ଌγεςϜ͸ɼཱҐͰ͸ͳ͘࠱ҐͰߦ͏͜ͱʹΑΓɼస౗ࣄ‫ނ‬ͷ‫ݥة‬ੑ͕গͳ
͘ɼΞΫνϡΤʔλΛ࢖༻͍ͯ͠ͳ͍͜ͱ͔Β҆શੑ΋ߴ͍ɽ͕ͨͬͯ͠ɼखज़‫ޙ‬ͷൺֱత
ૣ‫ظ‬ͷஈ֊͔Βద༻Ͱ͖ɼපࣨ౳ͰͷࣗओτϨʔχϯάʹ΋ར༻ՄೳͰ͋Δɽ͞Βʹɼ൚
༻ͳ෦඼Λ࢖͏͜ͱͰ௿ίετԽΛ࣮‫͍ͯ͠ݱ‬Δɽ
2.3
2.3.1
Լࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏
໨త
ɹຊઅͰ͸ɼ։ൃͨ͠‫ܭ‬ଌγεςϜʹΑΔ޼៛ੑͷධՁ๏ͷ༗ޮੑΛ‫͢ূݕ‬Δ͜ͱΛ໨త
ͱ͢Δɽ͜ͷͨΊʹɼ੸਷਷಺जᙾఠग़ज़Λड͚Δ‫ ऀױ‬11 ໊Λର৅ͱͨ͠‫ܦ‬ա‫ݧ࣮࡯؍‬Λ
ߦ͏ɽӬ୩Β͸ɼ੸਷਷಺जᙾఠग़ज़ʹΑͬͯॏ౓ͷ੸਷‫ࡧޙ‬ো֐ͱาߦೳྗͷ௿ԼΛࣔ
ͨ͠‫ͯͬ͋Ͱऀױ‬΋ɼ͓͓ΑͦͷୀӃ࣌‫ͳͱظ‬Δज़‫ ޙ‬3 ि໨Ͱาߦೳྗ͸ज़લʹ͍ۙঢ়ଶ
ʹ·Ͱճ෮͠ɼ੸਷‫ࡧޙ‬ো֐ͷվળ͕‫ݟ‬ΒΕΔͱใࠂ͍ͯ͠Δ [49]ɽͦ͜ͰɼఏҊ‫ܭ‬ଌγε
ςϜΛ༻͍ͨఏҊධՁ๏ʹΑͬͯɼಉ༷ͷ݁Ռ͕ಘΒΕΔ͔Λ͔֬ΊΔ͜ͱͰධՁ๏ͷ༗
ޮੑΛ‫͢ূݕ‬Δɽ·ͨɼఏҊ‫ܭ‬ଌγεςϜʹΑΔࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόο
ΫޮՌ΋֬ೝ͢Δɽ
2.3.2
ධՁ๏
ɹԼࢶͷ޼៛ੑΛධՁ͢ΔͨΊʹ༻ҙͨ͠‫੻ي‬௥ै՝୊ͷ 10 ίʔεΛ Fig. 2.2 ʹࣔ͢ɽ
Stage 1ʙStage 3 ͸௚ઢঢ়ͷίʔεͰ͋ΓɼStage 4ʙStage 10 ͸ίʔφʔͷ‫·ؚ‬ΕΔίʔ
εͰ͋Δɽ‫ऀޙ‬ͷίʔε͸ίʔφʔ͕͋ΔͨΊɼ଍ͷӡಈํ޲Λ੾Γ͔͑Δಈ࡞͕ඞཁͱͳ
Δɽඃ‫ऀݧ‬͸ɼStage 1ʙStage 10 ·ͰͷίʔεΛ֤ 1 ճͣͭॱ൪ʹ࣮ࢪ͢Δɽ·ͨɼίʔ
εͷઆ໌Λ Fig. 2.3 ʹࣔ͢ɽίʔε͕දࣔ‫ʹޙ‬ελʔτϘλϯΛԡ͢ͱϙΠϯλ͕ग़‫͠ݱ‬ɼ
‫ܦ‬ա࣌ؒΛࣔ͢λΠϚʔ͕දࣔ͞ΕΔɽ
ඃ‫ऀݧ‬͸ɼը໘ʹө͠ग़͞ΕͨϙΠϯλΛɼ໨ࢹͰ֬ೝ͠ͳ͕Βελʔτ஍఺͔Βΰʔ
2.3. Լࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏
19
(a) Stage 1
(b) Stage 2
(c) Stage 3
(d) Stage 4
(e) Stage 5
(f) Stage 6
(g) Stage 7
(h) Stage 8
(i) Stage 9
(j) Stage 10
Fig. 2.2 Ten evaluating stages
ϧ஍఺·ͰҠಈͤ͞Δɽίʔε͔Βҳ୤͢ΔͱɼσόΠε͕τϨʔχϯάϘʔυʹ‫ٵ‬ண͢
ΔͨΊɼඃ‫ऀݧ‬͸ 10N ͷ‫ٵ‬ҾྗʹରԠͨ͠఍߅‫ײ‬Λ‫͡ײ‬Δɽͦͷ݁Ռɼίʔε΁ͷ෮‫͕ؼ‬
ࠔ೉ͱͳΓɼΰʔϧ΁ͷ౸ୡ͕஗ΕΔɽ͜ͷ͜ͱ͔Βɼඃ‫ऀݧ‬͸ίʔε͔Βҳ୤͠ͳ͍Α
͏ʹԼࢶಈ࡞ͷਖ਼͕֬͞‫ٻ‬ΊΒΕΔɽ͕ͨͬͯ͠ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
ࢦඪͱͯ͠ɼશ 10 ίʔεͷୡ੒࣌ؒͷ߹‫ܭ‬஋ͷΈΛ༻͍ΔɽධՁࢦඪ͕େ͖͍΄ͲɼԼࢶ
ಈ࡞ͷ޼៛ੑ͕௿Լ͍ͯ͠Δ͜ͱΛҙຯ͢Δɽ
ୈ2ষ
20
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
Elapsed time
Device
position
Bog area
Goal
Course
Fig. 2.3 Explanatory drawing of evaluating stages of sensorimotor integration function
2.3.3
ྟচࢼ‫ݧ‬ͷඃ‫ํͱऀݧ‬๏
ɹඃ‫ऀݧ‬͸ɼ੸਷਷಺जᙾͷఠग़ज़Λड͚ΔͨΊʹೖӃͨ͠‫ ऀױ‬11 ໊ʢஉੑ 7 ໊ɼঁੑ 4
໊ɼฏ‫ۉ‬೥ྸ 44 ʶ 17.8 ࡀɼฏ‫ۉ‬ೖӃ೔਺ 25.7 ʶ 8.2 ೔ʣͱͨ͠ɽ·ͨɼຊ‫ڀݚ‬ͷझࢫΛઆ
໌͠ಉҙΛಘΒΕͨऀΛର৅ͱͨ͠ɽͳ͓ɼॏ౓ͷ‫ྗے‬௿ԼΛ͖ͨͨ͠‫ऀױ‬ɼ‫ڀݚ‬ͷओࢫ
ΛཧղͰ͖ͳ͍΄Ͳͷॏ౓ͷߴ࣍೴‫ػ‬ೳো֐‫ऀױ‬ɼଞͷ੔‫֎ܗ‬Պ࣬‫ױ‬Λซൃ͍ͯ͠Δ‫ऀױ‬
͸আ֎ͨ͠ɽ
͜͜Ͱɼ੸਷਷಺जᙾͷఠग़ज़Λड͚ΔͨΊʹೖӃͨ͠‫ऀױ‬Λର৅ʹબΜͩཧ༝ͱಛ௃
Λड़΂Δɽ޼៛ੑɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷ௿Լͷো֐͕ஶ͍͠୅දతͳ࣬‫ʹױ‬ɼ੸਷਷಺ज
ᙾ͕͋Δɽ੸਷਷಺जᙾͱ͸ɼ੸਷ͷதʹଘࡏ͢Δजᙾͷ͜ͱΛࢦ͢ɽ·ͨɼ੸਷਷಺ज
ᙾͷఠग़ज़͸ɼ੸਷‫΁ࡧޙ‬ͷҰաੑͷμϝʔδΛආ͚Δ͜ͱ͕೉͍͠ [52]ɽͦͷ݁Ռɼख
ज़௚‫ޙ‬͸ߴ͍֬཰Ͱ‫ݻ‬༗‫֮ײ‬ͷΈ͕௿Լ͢ΔͨΊɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷධՁର৅‫ͯ͠ͱ܈‬ɼ
ఏҊධՁ๏ͷ༗ޮੑͷ‫ʹূݕ‬ద͍ͯ͠Δ [49]ɽ·ͨɼॏ౓ͷ੸਷‫ࡧޙ‬ো֐Λఄ͢Δͱɼஶ
͍͠‫ݻ‬༗‫֮ײ‬ͷ௿ԼʹΑΓด‫ࣗʹ࣌؟‬਎ͷ਎ମ෦ҐΛೝࣝͰ͖ͳ͘ͳΔͨΊɼԼࢶͷಈ࡞
ʹ͓͍ͯ໨ࢹͰͷ֬ೝΛৗʹཁ͢Δɽ
શͯͷ‫ʹऀױ‬ରͯ͠ɼྍ๏࢜ͷτϨʔχϯάϓϩάϥϜʹΑΔԼࢶͷ޼៛ੑͷೖӃ͔Β
ୀӃͷ‫Ͱؒظ‬ͷճ෮աఔΛɼఏҊ‫ܭ‬ଌγεςϜʹΑΔ޼៛ੑͷఆྔతධՁ๏Λ༻͍ͯ֬ೝ͢
Δɽ࣮‫ݧ‬खॱͱͯ͠ɼ੸਷‫ࡧޙ‬ো֐ͷ঱ঢ়͕‫ݦ‬ஶͳ଍͔Βॱ൪ʹɼ྆଍ͷଌఆΛ࣮ࢪͨ͠ɽ
2.3. Լࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏
2.3.4
21
ྟচࢼ‫ݧ‬ͷ݁Ռͱߟ࡯
ɹର৅ͱͨ͠ 11 ໊ͷ‫ऀױ‬ͷ͏ͪɼ5 ໊͸खज़௚‫޼ʹޙ‬៛ੑɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷ௿Լ͕‫ݟ‬
ΒΕͨɽ͜ΕΒͷதͰ࠷΋ॏ౓ͷ੸਷‫ࡧޙ‬ো֐Λఄͨ͠ɼ60 ୅ঁੑ‫ऀױ‬ͷೖӃ͔ΒୀӃ·
Ͱͷ‫͚͓ʹؒظ‬Δ྆ํͷԼࢶͷ݁ՌΛ Fig. 2.4 ʹࣔ͢ɽ·ͨɼ5 ໊ʹ͓͚Δ੸਷‫ࡧޙ‬ো֐ͷ
Ө‫͕ڹ‬ΑΓେ͖͘ग़‫ͨ͠ݱ‬Լࢶͷ݁ՌΛ Fig. 2.5 ʹࣔ͢ɽFig. 2.4 ͱ Fig. 2.5 ͷॎ࣠͸߹
‫ܭ‬ୡ੒࣌ؒͰ͋ΔɽFig. 2.4 ͷԣ࣠͸खज़೔Λ 0 ͱͯ͠ೖӃ‫͔ޙ‬ΒୀӃ·Ͱͷ೔਺Λࣔ͢ɽ
ࠇ৭ͷϚʔΧʔ͸੸਷‫ࡧޙ‬ো֐͕ΑΓେ͖͘ग़‫ͨ͠ݱ‬ଆͷԼࢶΛ͍ࣔͯ͠Δɽ·ͨɼFig.
2.5 ͷԣ࣠͸ज़લɾज़‫ ޙ‬1 ճ໨ɾୀӃ௚લͷ֤࣌఺Λࣔ͢ɽ
Fig. 2.4 ͷ݁ՌΑΓɼͲͪΒͷԼࢶʹ͓͍ͯ΋ज़લͱୀӃ௚લ͸ಉఔ౓ͷୡ੒࣌ؒͱͳͬ
͍ͯͨɽ·ͨɼFig. 2.5 ͷ݁Ռ΋ Fig. 2.4 ͱಉ༷ͷ܏޲Λ֬ೝͰ͖ͨɽ͜ΕΒͷ݁Ռ͸ɼӬ
୩Βͷ‫ݟ‬ղ [49] ͱҰக͓ͯ͠Γɼखज़ʹΑΔ‫ݻ‬༗‫֮ײ‬ͷ௿Լͱɼ೔ʑͷϦϋϏϦςʔγϣϯ
ʹΑΔ‫ݻ‬༗‫֮ײ‬ͷճ෮ɼͳΒͼʹԼࢶಈ࡞ͷ޼៛ੑͷճ෮Λଊ͍͑ͯΔͱߟ͑Δɽ͕ͨͬ͠
ͯɼఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨԼࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏ͷ༗ޮੑΛ֬ೝͰ͖ͨɽ
·ͨɼFig. 2.5 ͷ‫ ऀױ‬No.1ɼNo.2 ͷΑ͏ʹॏ౓ͷ੸਷‫ࡧޙ‬ো֐Λఄͨ͠ऀͰ͋ͬͯ΋ɼ
ը໘Λհͯ͠଍ͷಈ͖Λೝࣝ͢Δ͜ͱͰ໨తʹ߹ΘͤͨԼࢶಈ࡞͕࣮ࢪͰ͖ͨɽ͕ͨͬ͠
ͯɼఏҊ‫ܭ‬ଌγεςϜʹΑΔࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫޮՌΛ֬ೝͰ͖ͨɽ
ୈ2ষ
Sum total of attainment time [s]
22
2000
1800
1600
1400
1200
1000
800
600
400
200
0
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
Disorder leg
Worse disorder leg
-10
0
10
20
30
Days from surgery (= 0)
40
50
Sum total of attainment time [s]
Fig. 2.4 Results of attainment time of Subject 1
2000
1150
No.1
300
250
No.2
200
No.3
150
No.4
100
No.5
50
0
Preoperative
1st time of
Just before a
postoperative
discharge
Fig. 2.5 Results of attainment time of seven subjects of deteriorated after surgery
2.4. ͓ΘΓʹ
2.4
23
͓ΘΓʹ
ɹຊষͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃͨ͠ɽ͜ͷͨΊʹɼཱ
Ґอ͕࣋ࠔ೉ͳ‫Ͱऀױ‬΋ར༻ՄೳͳԼࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁͷͨΊͷ‫ܭ‬ଌγεςϜ
Λ։ൃͨ͠ɽ·ͨɼ։ൃͨ͠Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ༻͍ͯɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑ
ͷఆྔతධՁ๏Λ։ൃͨ͠ɽఆྔతධՁγεςϜΛ༻͍ͨྟচࢼ‫͔ݧ‬ΒɼఏҊ‫ܭ‬ଌγες
ϜΛ༻͍ͨఏҊධՁ๏ͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽຊষͷ੒ՌΛҎԼʹ·ͱΊΔɽ
1. ࠱ҐͰ΋ར༻ՄೳͳԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽ͜ΕʹΑΓɼ଍ʹ૷ணͨ͠
σόΠεͷಈ͖ͷஞ࣍‫ܭ‬ଌͱɼࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫͱ఍߅‫ײ‬ͷ
ఏࣔΛ࣮‫ͨ͠ݱ‬ɽ
2. ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃͨ͠ɽ޼៛
ੑΛ 1 ͭͷධՁࢦඪ͔ΒධՁͰ͖ΔΑ͏ʹ͢ΔͨΊʹɼ‫੻ي‬௥ै՝୊ͷίʔε͔Βҳ
୤ͨ࣌͠ʹ͸఍߅‫ײ‬ͷఏࣔʹΑΔ࣌ؒ஗ԆͷϖφϧςΟΛ༩͑Δ͜ͱͱͨ͠ɽ͜Εʹ
ΑΓɼ଎͞Λ޼៛ੑͷධՁࢦඪͱͨ͠ɽ
3. ఏҊ‫ܭ‬ଌγεςϜͱఏҊධՁ๏Λ༻͍ͯɼ੸਷‫ࡧޙ‬ো֐‫ऀױ‬ͷೖӃ͔ΒୀӃͷ‫ʹؒظ‬
͓͚ΔԼࢶͷ޼៛ੑΛධՁͨ͠ɽಘΒΕͨධՁ݁Ռͱɼ೔ʑͷϦϋϏϦςʔγϣϯʹ
ΑΔճ෮աఔɼͳΒͼʹཧֶྍ๏࢜ʹΑΔ‫ݧܦ‬తͳධՁ݁Ռ͕Ұக͢Δ఺͔ΒɼఏҊ
‫ܭ‬ଌγεςϜΛ༻͍ͨԼࢶಈ࡞ͷ޼៛ੑͷఆྔతධՁ๏ͷ༗ޮੑΛ֬ೝͨ͠ɽ
4. ྟচࢼ‫Ͱݧ‬͸ɼ‫ݻ‬༗‫֮ײ‬ͷ௿ԼʹΑΓࣗ਎ͷ଍Λ௚ࢹ͠ͳ͍ͱಈ͔͢͜ͱ͕Ͱ͖ͳ͍
΄Ͳͷॏ౓ͷ੸਷‫ࡧޙ‬ো֐‫͍͓ͯʹऀױ‬΋ɼఏҊ‫ܭ‬ଌγεςϜͷը໘Λհͯ͠଍ͷಈ
͖Λೝࣝͯ͠΋Β͏͜ͱʹΑΓ໨తʹ߹ΘͤͨԼࢶಈ࡞͕࣮ࢪͰ͖ͨɽ͜ΕʹΑΓɼ
ఏҊ‫ܭ‬ଌγεςϜʹΑΔࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫޮՌΛ֬ೝͨ͠ɽ
ຊষͰࣔͨ͠੒Ռʹର͢Δྟচ‫ݱ‬৔ͷ੠Λ·ͱΊΔɽ‫ऀױ‬Λ୲౰ͨ͠ཧֶྍ๏͔࢜Β͸ɼ
‫ऀױ‬ͷϦϋϏϦςʔγϣϯҙཉͷ޲্͕‫ݟ‬ΒΕͨ఺ɼපࣨͰͷࣗओτϨʔχϯά͕࣌ؒ૿
͑ͨ఺ɼFig. 2.4 ͷΑ͏ʹ೔ʑͷճ෮աఔΛ֬ೝͰ͖Δ఺Ͱ޷ධͰ͋ͬͨɽ·ͨɼ‫͔ऀױ‬Β
͸ɼήʔϜੑ͕͋Γָ͘͠औΓ૊ΊΔ఺ɼ೔ʑͷճ෮աఔΛ֬ೝͰ͖Δ఺Ͱ޷ධͰ͋ͬͨɽ
ҰํͰɼ‫ؤ‬ுΓ͗ͯ͢͠·͏‫͍͓ͯʹऀױ‬͸ɼ݂ѹͳͲͷମௐ֬ೝ͕ඞཁͰ͋ͬͨɽಛʹɼ
ධՁͷ࣮ࢪ‫ޙ‬͸ർ࿑Λղফ͢ΔͨΊͷϚοαʔδ͕ඞཁͱͳΔ‫ऀױ‬΋͍ͨɽ͔͠͠ɼೖӃ
೔਺͕௕͘࢖༻ස౓͕ଟ͘ͳͬͨ‫ऀױ‬͸ɼ՝୊ʹର͢ΔϞνϕʔγϣϯͷ௿Լ͕‫ݟ‬ΒΕͨɽ
24
ୈ2ষ
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
Ϟνϕʔγϣϯͷ௿Լ͕ධՁ݁Ռʹ༩͑Δ͜ͱΛආ͚ΔͨΊʹɼྍ๏࢜ͷࢦࣔΛ‫Ͱ͍ڼ‬ɼධ
Ձͷ։࢝લʹ͜Ε·Ͱͷ‫ܦ‬աΛ֬ೝͯ͠໯͏͜ͱͰϞνϕʔγϣϯͷΞοϓΛਤͬͨɽ͠
͕ͨͬͯɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃͯ͠ཉ͍͠ͱ͍͏ྟচ‫ݱ‬
৔ͷχʔζʹԠ͑Δ͜ͱ͕Ͱ͖ͨɽ
ࠓ‫ޙ‬ͷ՝୊ʹ͍ͭͯ·ͱΊΔɽఏҊධՁ๏Ͱ͸ɼԼࢶಈ࡞ͷ޼៛ੑΛධՁ͢ΔͨΊͷ‫ي‬
੻௥ै՝୊ͱͯ͠ 10 ίʔεΛ༻ҙͨ͠ɽ͔͠͠ɼ࠷΋ॏ౓ͷ‫ऀױ‬ͷΑ͏ʹɼย଍ͷධՁʹ
໿ 30 ෼Λཁ͢Δ࣌΋‫ݟ‬ΒΕͨɽ͜ͷͨΊɼඃ‫΁ऀݧ‬ͷਫ਼ਆతͳෛ୲ʹΑΔϞνϕʔγϣϯ
ͷ௿Լ͕໰୊ͱͳΔɽΑͬͯɼԼࢶಈ࡞ͷఆྔతධՁ͕Մೳͳൣғ಺ͰίʔεΛબఆ͢Δ
͜ͱʹΑΓɼඃ‫ऀݧ‬ͷෛ୲Λܰ‫͢ݮ‬Δɽ·ͨɼఏҊఆྔతධՁγεςϜΛྍ๏࢜ͳͲͷҩ
ྍؔ܎ऀ͚ͩͰ΋ѻ͑ΔΑ͏ʹ͢ΔͨΊɼϢʔβϏϦςΟͷ޲্ΛਤΔඞཁ͕͋Δɽ
࠷‫ʹޙ‬ɼຊ‫ڀݚ‬͸໊‫ݹ‬԰޻‫ۀ‬େֶੜ໋ྙཧ৹ࠪҕһձͷঝೝʢঝೝ൪߸ 21-007ʣɼͳΒ
ͼʹ໊‫ݹ‬԰େֶҩֶ෦ੜ໋ྙཧҕһձͷঝೝʢঝೝ൪߸ 916ʣΛಘ࣮ͯࢪͨ͠ɽ
25
ୈ3 ষ
Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
3.1
͸͡Ίʹ
ɹୈ 2 ষͰ΋ड़΂ͨΑ͏ʹɼ࠱ҐͰ΋ར༻ՄೳͳԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγ
εςϜͷ։ൃ͕‫͘ڧ‬๬·Ε͍ͯΔɽ·ͨɼ‫ݱ‬ঢ়ͷࣗओτϨʔχϯάͰ͸‫ྗے‬τϨʔχϯά
͕ओྲྀͰ͋Δ͕ɼ͜ΕͷΈͰ͸ճ෮ޮՌ͕ಘΒΕͳ͍ͱͷใࠂ͕͞Ε͓ͯΓ [56] [57]ɼ‫ײ‬
֮‫ػ‬ೳʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷ޲্Λ໨తͱͨ͠τϨʔχϯά๏ͷཱ֬ɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷ
ఆྔతධՁ๏ͷཱ͕֬‫͘ڧ‬๬·Ε͍ͯΔɽ͔͠͠ɼԼࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷධՁΛߟ
͑ͨ࣌ɼछʑͷ‫֮ײ‬ͷத͔Β‫ݻ‬༗‫֮ײ‬ͷΈΛ෼཭ͯ͠ධՁΛߦ͏͜ͱ͸ࠔ೉Ͱ͋Δɽ
ୈ 2 ষͰ͸ɼը໘Λհͯ͠଍Ґஔͷӡಈ৘ใΛࢹ֮ఏࣔ͢ΔόΠΦϑΟʔυόοΫʹΑͬ
ͯɼ‫ऀױ‬͸ࣗ਎ͷ଍ҐஔΛ໨ࢹ͠ͳͯ͘΋Լࢶͷಈ࡞͕࣮ࢪͰ͖Δ͜ͱΛ֬ೝͨ͠ɽ
ຊষͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃ͢ΔͨΊʹɼୈ 2 ষ
Ͱ։ൃͨ͠‫ܭ‬ଌγεςϜΛ༻͍ͨԼࢶͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷఆྔతධ
Ձ๏Λ։ൃ͠ɼ͜ΕΒͷ༗ޮੑ‫ূݕ‬ͷͨΊʹೋͭͷྟচࢼ‫ݧ‬Λߦ͏ɽྟচࢼ‫Ͱݧ‬͸ɼ·ͣɼ
‫ݻ‬༗‫֮ײ‬ͷ௿ԼʹΑΓ޼៛ੑ͕௿Լͱͨ͠ͱ͞ΕΔߴྸ݈ৗऀ‫ͱ܈‬ए೥݈ৗऀ‫܈‬Λର৅ʹɼ
ఆྔతධՁࢦඪΛܾఆ͢Δɽ࣍ʹɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷ௿Լͨ͠੸਷਷಺जᙾखज़‫ऀױ‬ʢҎ
Լɼ‫Ϳݺͱऀױ‬ʣͱɼಉੑಉ೥୅ͷ݈ৗऀ‫܈‬Λର৅ʹɼܾఆͨ͠ఆྔతධՁࢦඪͷ༗ޮੑ
Λ‫͢ূݕ‬Δɽ͜ΕΒͷྟচࢼ‫ݧ‬ͷ݁Ռͱɼ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ͷ݁Ռ [48] Λൺֱ͢Δ
͜ͱʹΑΓɼ։ൃͨ͠ఆྔతධՁγεςϜͷ༗ޮੑΛ‫͢ূݕ‬Δɽ
3.2
3.2.1
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏
໨త
ɹ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷதͰ΋‫ݻ‬༗‫͕֮ײ‬௿Լ͢Δͱɼ޼៛ੑ͕ஶ͘͠௿Լ͢ΔͨΊૉૣ͘
ਖ਼֬ͳಈ࡞͕ࠔ೉ͱͳΔɽલষͰ͸ɼ޼៛ੑΛධՁ͢ΔͨΊʹɼӡಈํ޲ͷ੾Γସ͑Λཁ
͢ΔίʔεɼͳΒͼʹίʔε͔Βҳ୤͢Δͱΰʔϧ΁ͷ౸ୡ͕஗ΕΔ՝୊Λઃఆ͠ɼಈ࡞
ͷ଎͞Ͱ͋Δ՝୊ͷୡ੒࣌ؒͷΈΛఆྔతධՁࢦඪͱͨ͠ɽຊઅͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
26
Motor function
Intention
Body
image
Trajectory
planning
Motion
Muscular
group
Physical
system
Visual sense
Vestibular sense
Proprioception
Skin䠄ex. Pressure sense)
Fig. 3.1 Evaluation method of proprioception
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹɼಈ࡞ͷ଎͞ʹՃ͑ͯɼಈ࡞ͷਖ਼֬͞΋ఆ
ྔతධՁࢦඪʹ༻͍Δɽ·ͨɼ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹࢹ֮΁ͷӡಈ৘ใͷϑΟʔυόο
Ϋͷ༗ແͰൺֱͨ݁͠ՌΛ༻͍Δɽ
3.2.2
ධՁ‫ݪ‬ཧ
ɹ‫ػ֮ײ‬ೳʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ΛఆྔతධՁ͢ΔͨΊʹɼFig. 1.2 ͷӡಈϝΧχζϜʹϩϯ
ϕϧάࢼ‫[ ݧ‬48] ͷ‫ج‬ຊ‫ݪ‬ཧΛಋೖ͢Δɽϩϯϕϧάࢼ‫ͱݧ‬͸੸਷ͷ‫ࡧޙ‬ো֐ͷ༗ແΛධՁ
͢ΔͨΊͷਆ‫ֶܦ‬తࢼ‫͋Ͱݧ‬Γɼ‫ݻ‬༗‫֮ײ‬ͷ‫ج‬ຊతͳ‫͋Ͱࠪݕ‬Δɽ͜ͷධՁख๏͸։‫࣌؟‬
ͱด‫͚͓ʹ࣌؟‬Δ੩ࢭཱҐͷॏ৺ಈ༳Λൺֱ͢Δ΋ͷͰɼඃ‫ऀݧ‬ͷॏ৺Ҡಈͷ૯‫੻ي‬௕Λ
‫ܭ‬ଌ͢Δ͜ͱͰఆྔతධՁʹ΋༻͍ΒΕΔɽͦ͜Ͱຊ૷ஔΛ༻͍ͨධՁʹ͓͍ͯ΋ɼ։‫؟‬
ͱด‫؟‬ͷঢ়ଶΛࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόοΫͷ༗ແʹରԠͤͯ͞ɼԼࢶͷ‫ݻ‬
༗‫֮ײ‬ͷ௿Լ౓߹͍ΛධՁ͢Δ͜ͱ͕ՄೳͰ͋Δͱߟ͑Δɽ
ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫ݻ‬༗‫֮ײ‬ͷධՁ‫ݪ‬ཧΛ Fig. 3.1 ʹࣔ͢ఏҊ‫ܭ‬ଌγεςϜͷಈ
࡞Ͱ͸ɼ࠱ҐͰߦ͏ͨΊόϥϯεҡ࣋ͷඞཁ͸গͳ͍ɽ͜ͷͨΊɼલఉ֮Λࢧ഑తʹ͸ඞཁ
ͱ͠ͳ͍ͱߟ͑Δɽ·ͨɼ଍ఈʹ૷ணͨ͠σόΠεΛద੾ʹಈ͔͢ͱ͍͏ಈ࡞Ͱ͸ɼମੑ
‫֮ײ‬தͷൽෘ‫͍ͯͭʹ֮ײ‬΋ࢧ഑తʹ͸ඞཁͱ͠ͳ͍ͱߟ͑Δɽ͜ΕΒʹ͍ͭͯɼRossetti
ΒʹΑΔͱɼ݈ৗऀ͕࠱ҐͰߦ͏্ࢶಈ࡞ͷ࣮‫ʹݱ‬͸ɼಛʹࢹ֮ͱ‫ݻ‬༗‫֮ײ‬ͷ৘ใΛར༻
͢Δͱใࠂ͓ͯ͠Γ [31] [32]ɼఏҊ‫ܭ‬ଌγεςϜΛૢ࡞͢ΔࡍͷԼࢶಈ࡞ʹ͓͍ͯ΋ɼࢹ
֮ͱ‫ݻ‬༗‫֮ײ‬ͷϑΟʔυόοΫʹΑ࣮ͬͯ‫͖Ͱݱ‬Δͱߟ͑Δɽ͞Βʹɼࢹ֮΁ͷӡಈ৘ใ
ͷϑΟʔυόοΫͰ͋ΔϙΠϯλΛඇදࣔʹͯ͠ɼࢹ֮Λ‫੍ڧ‬తʹःஅ͢Δ͜ͱͰɼԼࢶ
3.2. ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏
27
ಈ࡞͸ओʹ‫ݻ‬༗‫֮ײ‬Λ࢖ͬͨಈ࡞ͱͳΔɽ͜ͷͨΊɼࢹ֮৘ใͷ༗ɾແʹΑΔԼࢶಈ࡞ͷ
ҧ͍͔Β‫ݻ‬༗‫֮ײ‬ͷධՁΛߦ͏͜ͱ͕ՄೳͱͳΔɽ
3.2.3
ఆྔతධՁ๏
ɹ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹ༻ҙͨ͠ 4 ͭͷίʔεΛ Fig. 3.2 ʹࣔ͢ɽίʔεͷઆ໌Λ Fig.
3.3 ʹࣔ͢ɽίʔεը໘ͷӈ୺ʹ͸ɼ‫ܦ‬ա࣌ؒͱσόΠεҐஔΛࣔ͢ϙΠϯλͷ࠲ඪ͕දࣔ
͞Ε͓ͯΓɼඃ‫ऀݧ‬͸ɼը໘ʹө͠ग़͞ΕͨϙΠϯλΛɼίʔεதԝͷ໨ඪ‫ʹ੻ي‬ԊΘͤ
ͯҠಈͤ͞ɼΰʔϧϥΠϯͰఀࢭͤ͞Δɽ
‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹ͸ɼࢹ֮৘ใͷ༗ɾແʹΑΔԼࢶಈ࡞ͷҧ͍Λൺֱ͢Δඞཁ
͕͋Δͱใࠂ͞Ε͍ͯΔ [50]ɽͦͷͨΊɼࢹ֮৘ใͳ͠Ͱ΋࣮ࢪՄೳͳίʔεͱͯ͠ɼ୯Ұ
ํ޲ͷӡಈͰ࣮‫͖Ͱݱ‬Δ‫ۃ‬Ίͯ؆୯ͳίʔεͱͨ͠ɽ͜ͷࢹ֮৘ใΛःஅ͢ΔͨΊʹɼϙ
Πϯλ͕ඇදࣔͷλεΫΛ༻ҙͨ͠ɽFig. 3.2(a)ɼ(b)ɼ(c)ɼ(d) ͷίʔεʹԊͬͯ଍Λಈ
͔͢ʹ͸ɼͦΕͧΕ‫ؔވ‬અͷ಺ટӡಈɼ‫ؔވ‬અͷ֎ટӡಈɼකؔઅͷ৳లӡಈɼකؔઅͷ
۶‫ۂ‬ӡಈ͕ओʹඞཁͱͳΔɽකؔઅͷ৳లಈ࡞ͱ۶‫ۂ‬ಈ࡞ʹΑΔ଍ͷӡಈํ޲ΛͦΕͧΕ
Fig. 2.1 ͷ D1 ͱ D2 ʹࣔ͠ɼ‫ؔވ‬અͷ಺ટӡಈͱ֎ટӡಈʹΑΔ଍ͷӡಈํ޲ΛͦΕͧΕ
Fig. 2.1 ͷ D3 ͱ D4 ʹࣔ͢ɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
28
(a) Course 1 for stage 1, 5
(b) Course 2 for stage 2, 6
(c) Course 3 for stage 3, 7
(d) Course 4 for stage 4, 8
Fig. 3.2 Four evaluating courses
Goal line
Objective
trajectory
Wall area
Device
position
Course
Start
position
x
y
Axis of coordinates
Elapsed time
Device
coordinate
Fig. 3.3 Explanatory drawing of evaluating courses of proprioception
3.2. ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏
29
Fig. 3.2(a)ɼ(b)ɼ(c)ɼ(d) ͷίʔεΛɼϙΠϯλ͕දࣔ͞Εͨঢ়ଶͰߦ͏λεΫΛ Stage
1ʙStage 4 ͱ͢ΔɽҰํɼϙΠϯλ͕ඇදࣔͷঢ়ଶͰߦ͏λεΫΛ Stage 5ʙStage 8 ͱ͢
ΔɽϙΠϯλ͕ඇදࣔͷλεΫ͸ɼελʔτͱಉ࣌ʹϙΠϯλͷද͕ࣔফ͑ͯΰʔϧϥΠ
ϯΛ௨ա௚‫ݱʹޙ‬ΕΔɽ͜ͷ࣌ɼࢹ֮৘ใ͕ःஅ͞Εͨ͜ͱͱͳΓɼ‫ݻ‬༗‫֮ײ‬ͷϑΟʔυ
όοΫʹཔͬͨӡಈͱͳΔɽ
ඃ‫ऀݧ‬͸ɼը໘ʹө͠ग़͞ΕͨϙΠϯλΛɼίʔεதԝͷ໨ඪ‫ʹ੻ي‬ԊΘͤͯҠಈͤ͞ɼ
ΰʔϧϥΠϯͰఀࢭͤ͞ΔɽϙΠϯλͷҐஔ࠲ඪ͸ɼελʔτ஍఺Λ‫͠ͱ఺ݪ‬ɼΰʔϧϥ
Πϯʹ޲͚ͨਐߦํ޲Λ x ࣠ɼͦͷਨ௚ํ޲Λ y ࣠ͱ͢Δ࠲ඪ‫ܥ‬Λ༻͍ͯද͞ΕΔɽԼࢶ
ಈ࡞ͷ଎͞ͷධՁ஋ͱͯ͠ୡ੒࣌ؒΛɼԼࢶಈ࡞ͷਖ਼֬͞ͷධՁ஋ͱͯ͠ϙΠϯλͷ໨ඪ
‫͔੻ي‬Βͷ‫ࠩޡ‬ͷྦྷੵ஋Λ࠾༻͢Δɽ͜ΕΒͷධՁ஋Λ TɼS ͱ͢Δͱɼ֤ίʔεͰͦΕ
ͧΕࣜ (3.1)ɼࣜ (3.2) ͱͳΔɽ
T = tf
S=
N
−1
(3.1)
|y(k) · {x(k + 1) − x(k)}| ɼɹ N =
k=1
tf
(3.2)
Δt
͜͜Ͱɼtf ͱ N ͸ελʔτ͔ͯ͠ΒΰʔϧϥΠϯΛӽ͑Δ·Ͱͷୡ੒࣌ؒͱσʔλ਺ɼΔt
͸αϯϓϦϯά࣌ؒͰ͋ΔɽS ͸ྦྷੵ‫ࠩޡ‬໘ੵͱද͠ɼࣜ (3.2) ʹࣔ͢௨Γ໨ඪ‫ͱ੻ي‬ϙΠ
ϯλͷҠಈ‫ͱ੻ي‬ΰʔϧϥΠϯͰғ·Εͨ໘ੵ͔Β‫·ٻ‬Δɽ
ຊষͰѻ͏ 4 ͭͷίʔεʹ͍ͭͯɼϙΠϯλͷදࣔɾඇද͕ࣔଘࡏ͢Δɽ͕ͨͬͯ͠ɼ
ίʔε i ʹ͓͚ΔϙΠϯλΛදࣔͨ࣌͠ͷ T Λ TiV ɼදࣔ͠ͳ͍࣌ͷͷ T Λ TiN V ͱఆٛ͢
ΔɽS ʹ͍ͭͯ΋ಉ༷ʹ SiV ͱ SiN V Λఆٛ͢Δɽ͜͜Ͱɼi = 1, ʜ, 4 ͱͳΔɽ
V
·ͣɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ௿ԼΛ֤ίʔεʹ͓͚Δ଎͞ͷฏ‫ۉ‬஋ T Λ༻͍ͯධՁ͢Δɽ
V
T ͸ɼࣜ (3.3) ͔Β‫·ٻ‬Δɽ
T
V
=
4 TV
i
i=1
(3.3)
4
V
଎͞ͷධՁ஋ T ͕ɼൺֱର৅ͱͯ͠ఆΊΔ‫ج‬४஋ΑΓ΋େ͖͍৔߹͸ɼ‫֮ײ‬ӡಈ౷߹‫ػ‬
ೳͷ௿ԼΛҙຯ͢Δɽ·ͨɼϙΠϯλඇදࣔʹ͓͍ͯ͸ɼಉ༷ʹ T
NV
ͱͳΔɽ͜͜Ͱɼ‫ײ‬
֮ӡಈ౷߹‫ػ‬ೳͱ޼៛ੑ͸දཪҰମͰ͋ΔͨΊɼୈ 2 ষͱಉ༷ʹࢹ֮৘ใ͋Γͷ଎͞ͷΈ
ΛఆྔతධՁࢦඪͱ͍ͯ͠Δ఺ʹ஫ҙ͞Ε͍ͨɽͨͩ͠ɼఆྔతධՁࢦඪΛ 1 ͭʹߜΔͨ
Ίͷ޻෉ͱͯ͠ɼඃ‫ʹऀݧ‬͸໨ඪ‫ʹ੻ي‬ԊͬͯΰʔϧΛ໨ࢦ͢Α͏ʹࢦࣔΛ༩͑Δඞཁ͕
͋Δɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
30
࣍ʹɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ௿Լཧ༝͕‫ݻ‬༗‫ىʹ֮ײ‬Ҽ͢Δ͜ͱΛ͔֬ΊΔͨΊͷධՁࢦ
ඪͷީิͱͯ͠ɼTiV ͱ TiN V ͷࠩɼTiV ͱ TiN V ͷൺɼSiV ͱ SiN V ͷࠩɼSiV ͱ SiN V ͷൺͷ
4 छྨ͕ߟ͑ΒΕΔɽ͜ͷ࣌ɼਖ਼֬͞ͷධՁ஋ͷީิͱͯ͠ɼͦΕͧΕɼΔD Ti ͸ࣜ (3.4)ɼ
ΔR Ti ͸ࣜ (3.5)ɼΔD Si ͸ࣜ (3.6)ɼΔR Si ͸ࣜ (3.7) ͱͳΔɽ
ΔD Ti = TiN V − TiV
Δ R Ti =
TiN V
TiV
ΔD Si = SiN V − SiV
Δ R Si =
SiN V
SiV
(3.4)
(3.5)
(3.6)
(3.7)
ࣜ (3.4)ɼࣜ (3.5)ɼࣜ (3.6)ɼࣜ (3.7) ʹ͍ͭͯɼ4 ͭίʔεͷฏ‫ۉ‬஋ ΔD T ɼΔR T ɼΔD S ɼ
ΔR S ͸ɼͦΕͧΕࣜ (3.8)ɼࣜ (3.9)ɼࣜ (3.10)ɼࣜ (3.11) ͔Β‫·ٻ‬Δɽ
ΔD T =
4 Δ T
D i
i=1
ΔR T =
4 Δ T
R i
i=1
ΔD S =
4
4 Δ S
D i
i=1
ΔR S =
4
4
4 Δ S
R i
i=1
4
(3.8)
(3.9)
(3.10)
(3.11)
Ҏ্ 4 ͭͷఆྔతධՁࢦඪ ΔD T ɼΔR T ɼΔD S ɼΔR S ͷ͏ͪɼ‫ݻ‬༗‫֮ײ‬ͷ௿ԼΛࣔ͢͜ͱ͕
༧૝͞ΕΔࢦඪʹ͍ͭͯߟ͑Δɽඃ‫ʹऀݧ‬͸໨ඪ‫ʹ੻ي‬ԊͬͯΰʔϧΛ໨ࢦ͢Α͏ʹࢦࣔ
Λ༩͑ΔͨΊɼࢹ֮৘ใͳ͠ͷ৔߹ʹ͓͍ͯ΋೴಺ͰΠϝʔδͨ͠໨ඪ‫ʹ੻ي‬Ԋͬͯΰʔ
ϧΛ໨ࢦ͢ɽͭ·Γɼಈ࡞ͷਖ਼֬͞Λॏࢹ͢Δ͜ͱ͕ߟ͑ΒΕΔɽ͕ͨͬͯ͠ɼΔD S ɼ΋
͘͠͸ ΔR S ͕‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁࢦඪʹద͍ͯ͠Δ͜ͱ͕༧ଌ͞ΕΔɽ
3.3
3.3.1
ఆྔతධՁࢦඪΛબఆ͢ΔͨΊͷྟচࢼ‫ݧ‬
໨త
ɹຊઅͰ͸ɼఏҊධՁ๏Λ‫ݻ‬༗‫֮ײ‬ͷ௿Լͨ͠ͱ͞ΕΔߴྸ݈ৗऀ 5 ໊ͱɼए೥݈ৗऀ 8 ໊
ʹద༻ͨ݁͠Ռ͔ΒɼఆྔతධՁࢦඪΛબఆ͢Δ͜ͱΛ໨తͱ͢Δɽ੕͸ɼՃྸʹ൐ͬͯ
3.3. ఆྔతධՁࢦඪΛબఆ͢ΔͨΊͷྟচࢼ‫ݧ‬
31
‫ݻ‬༗‫֮ײ‬͸௿Լ͢Δͱใࠂ͍ͯ͠Δ [25]ɽͦ͜ͰɼఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨఏҊධՁ๏
ʹ͓͍ͯɼઌߦ‫ͱڀݚ‬ಉ༷ͷ݁Ռ͕ಘΒΕΔఆྔతධՁࢦඪΛ ΔD T ɼΔR T ɼΔD S ɼΔR S
ͷத͔Βબఆ͢Δɽ
3.3.2
ྟচࢼ‫ݧ‬ͷର৅ऀͱํ๏
ɹྟচࢼ‫ݧ‬ͷର৅ऀ͸ɼ‫ج‬४ͱͳΔ݈ৗऀ‫݈ͯ͠ͱ܈‬ৗए೥ऀΛɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳ͕௿
Լͨ͠‫݈ͯ͠ͱ܈‬ৗߴྸऀΛ༻ҙͨ͠ɽ͜ΕΒͷඃ‫ऀݧ‬Λए೥ऀ‫ͯ͠ͱ܈ऀྸߴͱ܈‬ɼͦ
ΕͧΕ 8 ໊ͱ 5 ໊ͱͨ͠ɽए೥ऀ‫܈‬͸ 22ʙ23 ࡀ͔Βߏ੒͞Εͨฏ‫ۉ‬೥ྸ 22.5 ࡀͰ͋Γɼߴ
ྸऀ‫܈‬͸ 63ʙ74 ࡀ͔Βߏ੒͞Εͨฏ‫ۉ‬೥ྸ 68.8 ࡀͰ͋Δɽຊ‫ڀݚ‬ͷझࢫΛઆ໌͠ಉҙΛ
ಘΒΕͨඃ‫ऀݧ‬ͷΈΛର৅ͱͨ͠ɽ֤ඃ‫ʹऀݧ‬ରͯ͠ɼա‫ʹڈ‬େ͖ͳոզ΍ප‫ؾ‬ͷલྺ͕
ͳ͍͜ͱΛ͋Β͔͡Ί֬ೝͨ͠ɽ
࣮‫ݧ‬खॱͱͯ͠ɼFig. 3.2 ʹࣔ͢ 4 ͭͷίʔεΛॱ൪ʹ 1 ճͣͭɼ‫ ܭ‬4 ճ࣮ࢪ͢Δɽ͜ͷ
ࢼߦΛར͖଍ͱඇར͖଍ʹͯɼࢹ֮৘ใ͋Γͷ৔߹ͱͳ͠ͷ৔߹ɼ‫ ܭ‬4 ͭͷ৚݅Ͱ࣮ࢪ͢
Δɽ͜ΕΒͷҟͳΔ 4 ͭͷ࣮‫ݧ‬৚݅Λ Table 3.1 ʹࣔ͢ɽͳ͓ɼ࣮‫ݧ‬Λߦ͏্ͰॱংޮՌΛ
ഉআ͢ΔͨΊʹɼඃ‫ऀݧ‬ຖʹ͜ΕΒͷ࣮‫ݧ‬खॱΛม͑ͯߦ͏ɽඃ‫ऀݧ‬ຖͷ࣮‫ݧ‬खॱΛ‫ؚ‬Ίɼ
ए೥ऀ‫܈‬ͷ৘ใɼߴྸऀ‫܈‬ͷ৘ใΛͦΕͧΕ Table 3.2ɼTable 3.3 ʹࣔ͢ɽར͖଍͔ඇར͖
଍͔ʹ͍ͭͯ͸ϘʔϧΛऽΔ଍Λར͖଍ͱͨ͠ɽ
ͦΕͧΕͷ৚݅Ͱߴྸऀ‫ͱ܈‬ए೥ऀ‫܈‬Λൺֱ͢ΔධՁࢦඪͱͯ͠ɼ4 ͭͷίʔε͔Βಘ
V
ΒΕͨධՁࢦඪ T ɼT
NV
ɼͳΒͼʹ ΔD T ɼΔR T ɼΔD S ɼΔR S Λ༻͍Δɽ౷‫ֶܭ‬త‫ݕ‬౼
͸ɼF ‫ݕ‬ఆʹΑΓ౳෼ࢄͰ͋Δ͜ͱΛ֬ೝͨ͠‫ޙ‬ɺରԠͳ͠ͷ t ‫ݕ‬ఆΛ༻͍ͯൺֱΛ࣮ࢪ
ͨ͠ɽͦͷ࣌ͷ༗ҙਫ४͸ 5% ҎԼͱͨ͠ɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
32
Table 3.1 Case of experiments
Condition
Leg
Vision information
Dominant
Used
Dominant
Not used
Non dominant
Used
Non dominant
Not used
Case
A
B
C
D
Table 3.2 Information of young subjects
Subject No.
1
2
3
4
5
6
7
8
Age
22
23
23
22
22
23
23
22
Sex
Male
Male
Male
Male
Male
Male
Male
Male
Procedure
A B C D
A B C D
C D A B
B A D C
D C B A
D C B A
C D A B
B A D C
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
→
Table 3.3 Information of old subjects
Subject No.
1
2
3
4
5
Age
74
73
70
64
63
Sex
Male
Female
Female
Male
Female
Procedure
A B C D
B A D C
B A D C
C D A B
D C B A
→→
→→
→→
→→
→→
→
→
→
→
→
3.3. ఆྔతධՁࢦඪΛબఆ͢ΔͨΊͷྟচࢼ‫ݧ‬
3.3.3
33
࣮‫݁ݧ‬Ռͱߟ࡯
ɹए೥݈ৗऀͱߴྸ݈ৗऀͷൺֱ݁Ռʹ͍ͭͯɼશ 4 ίʔεʹ͓͚Δ଎͞ͷฏ‫ۉ‬஋ T
T
NV
V
Λ Fig. 3.4 ʹɼશ 4 ίʔεʹ͓͚Δਖ਼֬͞ͷฏ‫ۉ‬஋ S ͱ S
NV
V
ͱ
Λ Fig. 3.5 ʹࣔ͢ɽന
৭ͷ๮άϥϑ͸ϙΠϯλΛදࣔͨ࣌͠ͷ݁Ռɼփ৭ͷ๮άϥϑ͸ϙΠϯλΛදࣔ͠ͳ͍࣌
V
ͷ݁ՌͰ͋Δɽߴྸ݈ৗऀ‫܈‬͸ɼ‫ج‬४஋Ͱ͋Δए೥݈ৗऀ‫ͱ܈‬ൺ΂ͯɼT ͕྆ํͷԼࢶͰ
େ͖͘༗ҙࠩ΋ೝΊΒΕͨͨΊɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ௿ԼΛ֬ೝͰ͖ͨɽ
࣍ʹɼશ 4 ίʔεͷ଎͞ͱਖ਼֬͞ͷධՁ஋ʹ͓͚Δࢹ֮৘ใ͋Γͱࢹ֮৘ใͳ͠ͷࠩͱ
ൺͷ݁Ռʹ͍ͭͯड़΂ΔɽΔD T Λ Fig. 3.6 ʹɼΔR T Λ Fig. 3.7 ʹɼΔD S Λ Fig.3.8 ʹɼ
ΔR S Λ Fig. 3.9 ʹࣔ͢ɽೱ͍փ৭ͷ๮άϥϑ͸݈ৗऀ‫܈‬ͷ݁Ռɼബ͍փ৭ͷ๮άϥϑ͸ߴ
ྸ݈ৗऀ‫܈‬ͷ݁ՌͰ͋Δɽߴྸ݈ৗऀ‫܈‬͸ɼ‫ج‬४஋Ͱ͋Δए೥݈ৗऀ‫ͱ܈‬ൺ΂ͯɼΔD S ͕
྆ํͷԼࢶͰେ͖͘ɼ༗ҙ͕ࠩೝΊΒΕͨɽ
͕ͨͬͯ͠ɼԼࢶಈ࡞ʹ͓͚Δਖ਼֬͞Λࢹ֮৘ใͷ༗ɾແͷࠩͰൺֱͨ࣌͠ͷ݁Ռ͔Βɼ
‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ͕ՄೳͰ͋Δ͜ͱΛ֬ೝͰ͖ͨɽ͜Ε͸ɼՃྸʹ൐͏௿Լ͢Δ‫ݻ‬༗
‫֮ײ‬ͷ݁ՌͱҰக͓ͯ͠Γ [25]ɼຊ݁Ռ΋ՃྸʹΑΔ‫ݻ‬༗‫֮ײ‬ͷ௿ԼɼͳΒͼʹ‫֮ײ‬ӡಈ
౷߹‫ػ‬ೳͷ௿ԼΛଊ͍͑ͯΔɽ͜ͷ͜ͱ͔ΒɼఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫ݻ‬༗‫֮ײ‬ͷఆྔ
తධՁ๏ͷ༗ޮੑΛ֬ೝͰ͖ͨɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
Attainment Time [s]
34
8
7
6
5
4
3
2
1
0
With vision info.
Without vision info.
P<0.05
P<0.05
P<0.05
P<0.05
No Dominant
No Dominant
Dominant
Young
Subjects Information
Dominant
Old
Deviation [cm2]
Fig. 3.4 Results of attainment time
16
14
12
10
8
6
4
2
0
With vision info.
Without vision info.
N.S.
Non Dominant
N.S.
N.S
.
Dominant
Young
N.S
.
Dominant
Non Dominant
Subjects Information
Old
Fig. 3.5 Results of deviation
Difference of attainment time between
the case with/without vision info. [s]
3.3. ఆྔతධՁࢦඪΛબఆ͢ΔͨΊͷྟচࢼ‫ݧ‬
35
6
Young 䠄N=8)
5
4
3
Old (N=5)
N.S.
N.S
.
2
1
0
-1
Right foot
(Dominant)
Left foot
(Non dominant)
Ratio of attainment time between the
case with/without vision info. [s]
Fig. 3.6 Results of difference between attainment time with/without vision information
5
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Young 䠄N=8)
Old (N=5)
N.S.
Right foot
(Dominant)
N.S.
Left foot
(Non dominant)
Fig. 3.7 Results of ratio between attainment time with/without vision information
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
Difference between accumulated deviation
with/without vision info [cm2]
36
25
Young 䠄N=8)
20
15
Old (N=5)
P<0.1
P<0.05
10
5
0
-5
Right foot
(Dominant)
Left foot
(Non dominant)
Fig. 3.8 Results of difference between accumulated deviations with/without vision infor-
Ratio between accumulated deviation
with/without vision info. [cm2]
mation
8
Young 䠄N=8)
7
6
5
Old (N=5)
N.S.
P<0.1
4
3
2
1
0
Right foot
(Dominant)
Left foot
(Non dominant)
Fig. 3.9 Results of ratio between accumulated deviations with/without vision information
3.4. ఏҊධՁ๏ͷ༗ޮੑ‫ূݕ‬ͷͨΊͷྟচࢼ‫ݧ‬
3.4
3.4.1
37
ఏҊධՁ๏ͷ༗ޮੑ‫ূݕ‬ͷͨΊͷྟচࢼ‫ݧ‬
໨త
ɹຊઅͰ͸ɼఏҊධՁ๏Λಉ೥୅ಉੑͷ݈ৗऀͱ੸਷‫ࡧޙ‬ো֐‫ʹऀױ‬ద༻ͯ͠ɼ͜ͷ༗ޮ
ੑΛ‫͍ͯͭʹݧ࣮ͨ͠ূݕ‬ड़΂ΔɽӬ୩Β͸ɼज़‫ ޙ‬3 ि໨ʹ͓͍ͯ΋‫ݻ‬༗‫֮ײ‬ͷճ෮ʹ࣌
ؒΛཁ͢Δͱใࠂ͍ͯ͠Δ [49]ɽͦ͜ͰɼఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨఏҊධՁ๏ʹΑͬͯɼ
ಉ༷ͷ݁Ռ͕ಘΒΕΔ͔Λ͔֬ΊΔ͜ͱͰఏҊධՁ๏ͷ༗ޮੑΛ‫͢ূݕ‬Δɽ
3.4.2
ྟচࢼ‫ݧ‬ͷର৅ऀͱํ๏
ɹ 40 ୅ঁੑͷத೥݈ৗऀ 7 ໊ʢҎԼɼத೥݈ৗऀ‫Ϳݺͱ܈‬ʣͱɼज़‫ ޙ‬3 िҎ্‫ܦ‬աͨ͠ 40
୅ঁੑͷ‫ ऀױ‬1 ໊ʹରͯ͠ɼఏҊධՁ๏Λద༻ͨ͠ɽશͯͷର৅ऀͷར͖଍͸ɼ͍ͣΕ΋
ӈ଍Ͱ͋ͬͨɽ‫ऀױ‬͸‫ݻ‬༗‫֮ײ‬ͷ௿Լ͕ࠨԼࢶͷΈͰ͋Γɼ‫ݻ‬༗‫֮ײ‬ͷ௿ԼΛධՁ͢Δϩ
ϯϕϧά཰͸ 3.0 Ͱ͋ͬͨɽ͜Ε͸ɼด‫Ͱ؟‬ͷཱҐอ͕࣋ࠔ೉ͳঢ়ଶͰ͋Δɽ
࣮‫ݧ‬खॱͱͯ͠ɼӈ଍ͱࠨ଍ͷॱ൪Ͱ࣮ࢪͨ͠ɽຊઅͰ͸ɼ‫ऀױ‬ͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ
‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊͷ‫ج‬४஋ͱͯ͠த೥݈ৗऀ‫܈‬Λ༻͍Δɽ
౷‫ܭ‬ख๏͸ɼF ‫ݕ‬ఆʹΑΓ౳෼ࢄͰ͋Δ͜ͱΛ֬ೝͨ͠‫ޙ‬ɼରԠͳ͠ͷ t ‫ݕ‬ఆΛ༻͍ͯ
ൺֱͨ͠ɽͦͷ࣌ͷ༗ҙਫ४͸ 5% ҎԼͱͨ͠ɽ
3.4.3
த೥݈ৗऀ‫ऀױͱ܈‬ͷൺֱ݁Ռͱߟ࡯
V
ɹશ 4 ίʔεʹ͓͚Δ଎͞ͷฏ‫ۉ‬஋ T ͱ T
V
ͷฏ‫ۉ‬஋ S ͱ S
NV
NV
Λ Fig. 3.10 ʹɼશ 4 ίʔεʹ͓͚Δਖ਼֬͞
Λ Fig. 3.11 ʹࣔ͢ɽന৭ͷ๮άϥϑ͸ϙΠϯλΛදࣔͨ࣌͠ͷ݁Ռɼ
փ৭ͷ๮άϥϑ͸ϙΠϯλΛදࣔ͠ͳ͍࣌ͷ݁ՌͰ͋Δɽ‫ऀױ‬͸‫ج‬४஋Ͱ͋Δத೥݈ৗऀ
V
‫ͱ܈‬ൺ΂ͯ T ͕େ͖͘༗ҙࠩ΋ೝΊΒΕͨͨΊɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ௿ԼΛ֬ೝͰ͖ͨɽ
࣍ʹɼશ 4 ίʔεͷਖ਼֬͞ͷฏ‫ۉ‬஋ ΔD S ͱ ΔR S ΛɼFig. 3.12 ͱ Fig. 3.13 ʹࣔ͢ɽೱ
͍փ৭ͷ๮άϥϑ͸த೥݈ৗऀ‫܈‬ͷ݁Ռɼബ͍փ৭ͷ๮άϥϑ͸‫ऀױ‬ͷ݁ՌͰ͋Δɽ‫ऀױ‬
͸‫ج‬४஋Ͱ͋Δ݈ৗऀ‫ͱ܈‬ൺ΂ͯɼ‫ݻ‬༗‫֮ײ‬ͷ௿ԼΛࣔ͢ ΔD S ͕ࠨԼࢶͰ૿Ճ͓ͯ͠Γɼ
༗ҙ͕ࠩೝΊΒΕͨɽ
͕ͨͬͯ͠ɼԼࢶಈ࡞ʹ͓͚Δਖ਼֬͞Λࢹ֮৘ใͷ༗ɾແͷࠩͰൺֱͨ࣌͠ͷ݁Ռ͔Βɼ
‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ͕ՄೳͰ͋Δ͜ͱΛ֬ೝͰ͖ͨɽ͜Ε͸ɼӬ୩Βͷ‫ݟ‬ղ [49]ɼͳΒ
ͼʹϩϯϕϧά཰ͷ݁Ռͱ΋Ұக͓ͯ͠Γɼຊ݁Ռ΋‫ݻ‬༗‫֮ײ‬ͷ௿ԼʹΑΔ‫֮ײ‬ӡಈ౷߹
38
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
‫ػ‬ೳͷ௿ԼΛଊ͍͑ͯΔɽ͜ͷ͜ͱ͔ΒɼఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫ݻ‬༗‫֮ײ‬ͷఆྔతධ
Ձ๏ͷ༗ޮੑΛ֬ೝͰ͖ͨɽ
ैདྷͷ੸਷‫ࡧޙ‬ো֐ͷධՁͰ͸ɼด‫Ͱ؟‬ͷཱҐ࢟੎อ͕࣋Ͱ͖ͳ͍‫ऀױ‬͸আ֎͞Ε͓ͯ
Γɼज़‫ظૣޙ‬ஈ֊͔Βͷద༻ɼͳΒͼʹ௕‫ظ‬తͳ‫ܦ‬ա‫࡯؍‬΋ࠔ೉Ͱ͋ͬͨ [49]ɽҎ্ΑΓɼ
୺࠱Ґ࢟੎Ͱར༻Ͱ͖ΔఏҊ‫ܭ‬ଌγεςϜΛ༻͍Δ͜ͱʹΑͬͯɼཱҐࠔ೉ͳ‫ʹऀױ‬ର͠
ͯ΋ɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ΛఆྔతʹධՁͰ͖ΔՄೳੑ͕ࣔࠦ͞Εͨɽ
Attainment Time [s]
3.4. ఏҊධՁ๏ͷ༗ޮੑ‫ূݕ‬ͷͨΊͷྟচࢼ‫ݧ‬
8
7
6
5
4
3
2
1
0
39
tŝƚŚǀŝƐŝŽŶŝŶĨŽ͘
tŝƚŚŽƵƚǀŝƐŝŽŶŝŶĨŽ͘
P<0.01
P<0.01
P<0.05
P<0.05
P<0.01
Non dominant
Dominant
Healthy control (N = 7)
Non dominant
Dominant
(Disorder)
(Non disorder )
Patients with somatosensory disorder
Subjects information
Deviation [cm2]
Fig. 3.10 Results of attainment time
40
35
30
25
20
15
10
5
0
tŝƚŚǀŝƐŝŽŶŝŶĨŽ͘
tŝƚŚŽƵƚǀŝƐŝŽŶŝŶĨŽ͘
Non dominant
0.05<P<0.1
P<0.05
Dominant
Healthy control
Dominant
Non dominant
(Non disorder )
(Disorder)
Patients with somatosensory disorder
Subjects information
Fig. 3.11 Results of deviation
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
Difference between accumulated deviation
with/without vision info. [cm2]
40
Fig. 3.12
30
25
20
15
Healthy control (N = 7)
Patients with somatosensory disorder
P<0.05
N.S.
10
5
0
-5
-10
Right foot
(Non disorder of patient)
Left foot
(Disorder of patient)
Results of difference between accumulated deviations with/without vision
Ratio between accumulated deviation
with/without vision info. [cm2]
information
5
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Healthy control (N = 7)
P<0.1
Patients with somatosensory disorder
N.S.
Right foot
(Non disorder of patient)
Left foot
(Disorder of patient)
Fig. 3.13 Results of ratio between accumulated deviations with/without vision information
3.5. ϩϯϕϧά཰ͱͷൺֱ
3.5
41
ϩϯϕϧά཰ͱͷൺֱ
ɹԼࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜͷ༗ޮੑΛ‫͢ূݕ‬ΔͨΊʹɼए೥݈ৗ
ऀ‫݈ྸߴͱ܈‬ৗऀ‫܈‬ɼͳΒͼʹಉ೥୅ಉੑͷ݈ৗऀͱ੸਷‫ࡧޙ‬ো֐‫ऀױ‬ɼͱ͍͏ඃ‫܈ऀݧ‬
Λର৅ͱͨ͠ྟচࢼ‫ݧ‬Λ࣮ࢪͨ͠ɽ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹɼ໨ඪ‫ي‬ಓʹԊͬͯΰʔϧ
Λ໨ࢦ͢՝୊ʹ͓͚Δਖ਼֬͞ͷධՁ஋ʹରͯ͠ɼࢹ֮৘ใͷ༗ແͷൺͱࠩͰൺֱ͢Δख๏
ΛఏҊͨ͠ɽຊઅͰ͸ɼࢹ֮৘ใͷ༗ແͷൺͱࠩΛ࢖͍෼͚ΔͨΊͷ৚݅Λઆ໌͢Δɽ·
ͨɼ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜͷ༗ޮੑΛ‫͢ূݕ‬ΔͨΊʹɼઌߦ‫ࣔ͞Ͱڀݚ‬Ε͍ͯΔ
݈ৗऀͷ೥୅ผϩϯϕϧά཰ [48] ͷ݁ՌͱɼఏҊධՁ๏ͷ݁ՌΛൺֱ͢Δɽ
ӡಈ‫ػ‬ೳͱࢹ͕֮ஶ͘͠௿Լ͍ͯ͠Δඃ‫ऀݧ‬͸ɼఏҊͨ͠‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ʹ͓
͍ͯɼࢹ֮৘ใ͋Γͷਖ਼֬͞ͷධՁ஋͕ѱԽ͢Δɽ͜ͷΑ͏ͳඃ‫ऀݧ‬Λ‫ؚ‬Ή‫ʹ܈‬ରͯ͠‫ݻ‬
༗‫֮ײ‬ͷධՁΛߦ͏ࡍʹ͸ɼ‫ؒ܈ͱ಺܈‬ͷ͹Β͖ͭͷӨ‫ڹ‬Λখ͘͢͞ΔͨΊʹࢹ֮৘ใͷ
༗ແͷൺΛ༻͍Δඞཁ͕͋Δɽ͔͠͠ɼࢹ֮৘ใ͋Γͷਖ਼֬͞ͷධՁ஋͕‫Ͱؒ܈ͱ಺܈‬ଗͬ
͍ͯΔ৔߹͸ɼࢹ֮৘ใ͋ΓͷࠩΛ༻͍ͯ΋ྑ͍ɽຊষͰର৅ͱͨ͠ඃ‫܈ऀݧ‬͸ɼ͍ͣΕ
΋ӡಈ‫ػ‬ೳͱࢹ͕֮ஶ͘͠௿Լ͍ͯ͠ͳ͍ͨΊɼࢹ֮৘ใ͋Γͷਖ਼֬͞ͷධՁ஋͕ଗͬͯ
͍Δɽ͜ͷͨΊɼࢹ֮৘ใͷ༗ແͷࠩΛ༻͍ͯ΋ྑ͍ͱ‫͑ݴ‬Δɽ
Straube ΒʹΑΔ݈ৗऀͷ೥୅ผϩϯϕϧά཰ͷ݁ՌΛ Fig. 3.14 ʹࣔ͢ɽ͜ΕʹΑΔͱɼ
ϩϯϕϧά཰ͷฏ‫ۉ‬஋͸ɼ20 ࡀҎԼͰ 1.5ɼ20ʙ40 ࡀͰ 1.9ɼ40ʙ60 ࡀͰ 2.1ɼ60 ࡀҎ্Ͱ
2.5 Ͱ͋Δͱใࠂ͞Ε͍ͯΔɽ͜ͷ݁ՌΛԣ࣠ʹऔΓɼຊ‫֤ͨࣔ͠Ͱڀݚ‬೥୅ͷ݈ৗऀͷ
ར͖଍ͱඇར͖଍ʹ͓͚Δ ΔD S ͱ ΔR S Λॎ࣠ʹऔͬͯϓϩοτͯ͠ඳ͍ͨࢄ෍ਤΛ Fig.
3.15 ʹࣔ͢ɽFig. 3.15 ͔Βɼࢹ֮৘ใͷ༗ແͷࠩΑΓࢉग़ͨ͠ ΔD S ͱϩϯϕϧά཰ͱͷ
ؒʹඇৗʹ‫͍ڧ‬૬͕ؔೝΊΒΕͨɽ·ͨɼΔR S ͱϩϯϕϧά཰ͱͷؒʹ͓͍ͯ΋ඇৗʹ‫ڧ‬
͍૬͕ؔೝΊΒΕ͕ͨͨͬͯ͠ɼ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜͷ༗ޮੑΛ‫͖ͨͰূݕ‬ɽ
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
42
Romberg Quotient
3.0
2.0
1.0
Age
Number
<20
12
20~40
23
40~60
19
>60
10
Fig. 3.14 Mean of Romberg quotient according to age [48]
5
Tthis evaluation method
4
3
Difference 䠄 Dominant䠅
2
Ratio 䠄 Dominant䠅
Difference 䠄 Non dominant䠅
1
Ratio 䠄 Non dominant 䠅
0
-1
1.5
Fig. 3.15
2
2.5
Romberg quotient [48]
3
Reallyelationship between the romberg quotient [48] and the results obtained
by this evaluation method
3.6. ͓ΘΓʹ
3.6
43
͓ΘΓʹ
ɹຊষͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃͨ͠ɽ͜ͷͨΊʹɼୈ
2 ষͰ։ൃͨ͠Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜΛ༻͍ͯɼԼࢶಈ࡞ͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳɼͳΒͼ
ʹ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λ։ൃͨ͠ɽఆྔతධՁγεςϜΛ༻͍ͨྟচࢼ‫͔ݧ‬ΒɼఏҊ
‫ܭ‬ଌγεςϜΛ༻͍ͨఏҊධՁ๏ͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽຊষͷ੒ՌΛҎԼʹ·ͱΊΔɽ
1. Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜʹΑΔ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ๏Λ։ൃͨ͠ɽਖ਼֬͞
ͱ଎͞ͷධՁࢦඪͷ͏ͪɼਖ਼֬͞Λॏࢹ͢Δ՝୊Λઃఆ͢Δ͜ͱʹΑΓɼ଎͞ͷධՁ
஋Λ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷධՁࢦඪͱͨ͠ɽ
2. Լࢶಈ࡞ͷ‫ܭ‬ଌγεςϜʹΑΔ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λ։ൃͨ͠ɽࢹ֮ͱ‫ݻ‬༗‫֮ײ‬
Λࢧ഑తʹ࢖͏՝୊Λઃఆ͢Δ͜ͱʹΑΓɼࢹ֮΁ͷӡಈ৘ใͷόΠΦϑΟʔυόο
Ϋͷ༗ແΛൺֱͨ͠஋Λ‫ݻ‬༗‫֮ײ‬ͷධՁࢦඪͱͨ͠ɽ
3. ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λɼए೥݈ৗ
ऀ‫݈ྸߴͱ܈‬ৗऀ‫ʹ܈‬ద༻ͨ͠ɽࢹ֮৘ใ͋Γͷ଎͞ͷධՁ஋͔ΒɼՃྸʹ൐͏‫֮ײ‬
ӡಈ౷߹‫ػ‬ೳͷ௿ԼΛ֬ೝͰ͖ͨɽ·ͨɼਖ਼֬͞ͷධՁ஋ʹ͓͚Δࢹ֮৘ใͷ༗ແͷ
ൺͱ͔ࠩΒɼՃྸʹ൐͏‫ݻ‬༗‫֮ײ‬ͷ௿ԼΛ֬ೝͰ͖ͨɽ
4. ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λɼ݈ৗऀͱ
੸਷‫ࡧޙ‬ো֐‫ʹऀױ‬ద༻ͨ͠ɽࢹ֮৘ใ͋Γͷ଎͞ͷධՁ஋͔Βɼ‫ऀױ‬ͷ྆Լࢶʹ͓
͚Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ௿ԼΛ֬ೝͰ͖ͨɽ·ͨɼਖ਼֬͞ͷධՁ஋ʹ͓͚Δࢹ֮৘ใ
ͷ༗ແͷൺͱ͔ࠩΒɼ‫ऀױ‬ͷยԼࢶͷ‫ݻ‬༗‫֮ײ‬ͷ௿ԼΛ֬ೝͰ͖ͨɽ
5. ্‫ݻͨࣔ͠Ͱه‬༗‫֮ײ‬ͷఏҊఆྔతධՁ๏ʹΑΔ݁Ռ͸ɼઌߦ‫ࣔ͞Ͱڀݚ‬Ε͍ͯΔϩ
ϯϕϧά཰ͱͷؒʹ‫͍ڧ‬૬͕ؔೝΊΒΕͨɽ͕ͨͬͯ͠ɼ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγε
ςϜͷ༗ޮੑΛ‫͖ͨͰূݕ‬ɽ
ຊষͰࣔͨ͠੒Ռʹର͢Δྟচ‫ݱ‬৔ͷ੠Λ·ͱΊΔɽ‫ऀױ‬Λ୲౰ͨ͠ཧֶྍ๏͔࢜Β͸ɼ
‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁΛ࠱ҐʹͯยԼࢶͣͭͰ͖Δ఺ɼ‫΁ऀױ‬ͷ਎ମతෛ୲͕গͳ͍఺Ͱ
޷ධͰ͋ͬͨɽຊ‫ڀݚ‬͸ઌߦ‫͍ڧͱڀݚ‬૬͕ؔೝΊΒΕͨ఺͔Β΋ɼԼࢶಈ࡞ʹ͓͚Δ‫ݻ‬
༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃͯ͠ཉ͍͠ͱ͍͏ྟচ‫ݱ‬৔ͷχʔζʹԠ͑Δ͜ͱ͕Ͱ
͖ͨͱߟ͑Δɽ
44
ୈ 3 ষ Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
ࠓ‫ޙ‬ͷ՝୊ʹ͍ͭͯ·ͱΊΔɽຊ‫Ͱڀݚ‬ఏҊͨ͠Լࢶಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධ
ՁγεςϜ͸ɼϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ʹ͓͍ͯ༗ޮੑΛ‫͖ͨͰূݕ‬ɽࠓ‫ޙ‬͸ɼΑ
Γଟ͘ͷඃ‫ऀݧ‬Λର৅ʹྟচࢼ‫ݧ‬Λ࣮ࢪ͢Δ͜ͱʹΑΓɼఆྔతධՁγεςϜͱͯ͠ͷ৴
པੑΛ֬ೝ͢Δɽ
࠷‫ʹޙ‬ɼຊ‫ڀݚ‬͸໊‫ݹ‬԰޻‫ۀ‬େֶੜ໋ྙཧ৹ࠪҕһձͷঝೝʢঝೝ൪߸ 21-007ʣɼͳΒ
ͼʹ໊‫ݹ‬԰େֶҩֶ෦ੜ໋ྙཧҕһձͷঝೝʢঝೝ൪߸ 916ʣΛಘ࣮ͯࢪͨ͠ɽ
45
ୈ4 ষ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
4.1
͸͡Ίʹ
ɹୈ 2 ষͱୈ 3 ষͰ͸ɼԼࢶಈ࡞Λର৅ͱͨ͠‫ܭ‬ଌγεςϜʹ͍ͭͯड़΂ͨɽୈ 4 ষͱୈ 5
ষͰ͸ɼ೔ৗੜ‫Ͱ׆‬Α͘‫ݟ‬ΒΕΔਫ਼ີ೺Ѳಈ࡞Λର৅ͱͨ͠޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධ
ՁγεςϜʹ͍ͭͯड़΂Δɽୈ 4 ষͱୈ 5 ষͰड़΂Δ‫ڀݚ‬੒Ռ͸ɼ໨നେֶ࡞‫ྍۀ‬๏ֶՊ
ͱҩྍ๏ਓѪ੔ձ๺ేපӃϦϋϏϦՊͷ࡞‫ྍۀ‬๏࢜ͱͷ‫ڞ‬ಉ‫ʹڀݚ‬ΑΔ΋ͷͰ͋Δɽ͜͜
Ͱ͸ɼҩ޻࿈‫ܞ‬ͷ͸͡·Γ͔Β‫ڀݚ‬എ‫ܠ‬ɼχʔζʹ‫ͮ͘ج‬ཁ‫༷࢓ٻ‬ͷࡦఆͱ‫ڀݚ‬໨ମΛड़
΂Δɽ
ຊ‫ڀݚ‬ͷҩ޻࿈‫ܞ‬͸ɼ2008 ೥Նʹ࡞‫ྍۀ‬๏͕࢜৿ా‫ࣨڀݚ‬Λདྷ๚ͨ͜͠ͱ͕͸͡·ΓͰ
͋Δɽ‫ڞ‬ಉ‫ऀڀݚ‬ͷ࡞‫ྍۀ‬๏࢜Β͸ɼྟচ‫ݱ‬৔ʹ͓͍ͯɼ‫͕ऀױ‬೺ѲྗΛௐ੔͢ΔೳྗΛධ
Ձ͢ΔͨΊʹɼްࢴΛԁ౵‫ܗ‬ঢ়ʹ‫ؙ‬Ίͨର৅෺Λ௵͞ͳ͍Α͏ʹਫ਼ີ೺Ѳͤ͞ΔλεΫΛ
‫ʹऀױ‬༩͑ͯɼਫ਼ີ೺Ѳಈ࡞ͷ޼៛ੑͱ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷධՁΛߦ͍ͬͯͨɽର৅෺ͱ
ͯ͠ԁ౵‫ܗ‬ঢ়ʹ‫ؙ‬ΊͨްࢴΛ༻͍Δ͜ͱʹΑͬͯɼ࢖༻‫ޙ‬ͷ઼ੑม‫͔ܗ‬Β೺Ѳྗͷௐ੔ೳ
ྗΛࢹ֮తʹ֬ೝ͢Δ͜ͱ͕Ͱ͖Δɽ͔͠͠ɼର৅෺ͷม‫ྔܗ‬ͷ‫ܭ‬ଌ͸ߦ͍͑ͯͳ͍ͨΊɼ
ఆྔతධՁ๏ͷཱ͕֬՝୊ͱͳ͍ͬͯͨɽͦ͜Ͱɼ2010 ೥ΑΓҩ޻࿈‫ܞ‬νʔϜΛ‫ܗ‬੒͠ɼ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ೺ѲྗͷఆྔతධՁͷͨΊͷ‫ܭ‬ଌγεςϜΛ։ൃ͖ͯͨ͠ [58]- [60]ɽ
‫ܭ‬ଌγεςϜͷߏ੒ཁૉͰ͋Δ೺ѲσόΠεʹ͍ͭͯɼॳ‫ظ‬ஈ֊Ͱ͸ɼԁ౵‫ܗ‬ঢ়ͷγϦίʔ
ϯΰϜϗʔεͷ಺ଆʹ࿪ΈήʔδΛషΓ෇͚ͨ‫ܭ‬ଌ૷ஔΛ։ൃͨ͠ɽ͜ΕʹΑΓɼ೺Ѳྗ
ௐ੔ͷ༷ࢠΛࢹ֮త͔ͭఆྔతʹ֬ೝͰ͖ΔΑ͏ʹͳͬͨɽ͔͠͠ɼม‫࣌ܗ‬ͷ‫཰ۂ‬ෛՙ͕
େ͖͘ͳΔ͜ͱʹΑΓ࿪Έήʔδ͕ഁյ͞Εͯ͠·͏ٕज़త՝୊͕໌Β͔ʹͳͬͨɽͦ͜
Ͱɼԁ౵‫ܗ‬ঢ়ͷγϦίʔϯΰϜϗʔεʹରͯ͠ɼ࿪ΈήʔδΛషΓ෇͚ͨϦϯ੨ಔ൘ʹΑ
Δߏ଄ମΛ૊ΈࠐΉ͜ͱͰղܾΛਤͬͨ [59]ɽ͔͠͠ɼ଱‫ٱ‬ੑͱ࠶‫ݱ‬ੑ͕ٕज़త՝୊ͱ͠
ͯ࢒͞Ε͍ͯͨɽ
೺Ѳಈ࡞͸ɼසൟʹ࢖༻͞ΕΔಈ࡞Ͱ͋Γɼ೔ৗੜ‫׆‬ͷ͋ΒΏΔ৔໘ʹ͓͍ͯॏཁͳ໾
ׂΛ࣋ͭɽ೔ৗੜ‫Ͱ׆‬͸ɼମྗɾӡಈೳྗௐࠪ [41] ʹΑΔѲྗ‫ܭ‬ଌͷΑ͏ʹ࠷େ‫ྗے‬Λൃ
‫͢ش‬Δ͜ͱ͸‫ۃ‬Ίͯগͳ͘ɼޮ཰తʹ࠷େԼͷྗΛ͍͔ʹௐ੔͠͏Δ͔͕ॏཁͰ͋Δɽ͜
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
46
ͷ೺Ѳಈ࡞ʹ͍ͭͯɼNapier [61] ͕ɼਫ਼ີ೺ѲʢPrecision gripʣͱ‫ྗڧ‬೺ѲʢPower gripʣ
ͷ 2 छྨʹେผ͞ΕΔ͜ͱΛใࠂͯ͠Ҏདྷɼଟ͘ͷ‫ʹऀڀݚ‬Αͬͯ೺Ѳಈ࡞ͷࡉ෼Խ͕ߦ
ΘΕ͖ͯͨ [62]- [64]ɽ‫ח‬૔ [62] ͸ɼର৅෺ʹର͢Δ໨తಈ࡞ͷ࠷ऴஈ֊ͰೝΊΒΕͨखࢦ
ͷ‫ܗ‬ଶʹ͍ͭͯɼ෺ମͱखͷൽෘ໘ͱͷ઀৮Λ‫ʹج‬ɼखͷૢ࡞ύλʔϯͱ‫ػ‬ೳͷ෼ྨΛࢼ
Έͨɽ௕ඌ [63] ͸ɼ݈ৗऀͷ೔ৗੜ‫͚͓ʹ׆‬Δ೺Ѳಈ࡞ͷग़‫ݱ‬ස౓Λௐ΂͓ͯΓɼਫ਼ີ೺
Ѳͷग़‫͕཰ݱ‬ར͖खͰ࠷΋ߴ͍͜ͱΛใࠂ͍ͯ͠Δɽ·ͨɼ٦ [64] ͸ɼར͖खͱඇར͖ख
ͷͦΕͧΕΛ‫ػ‬ೳखͱ‫ݻ‬ఆखͱ‫ݺ‬ΜͰ͓Γɼར͖ख͸޼៛ੑʹ༏ΕΔ͜ͱΛ໌Β͔ʹͯ͠
͍Δɽ͜͜Ͱɼ޼៛ੑͱ͸खઌͷ‫͞༻ث‬Λࢦ͢ೳྗͰ͋Δɽ͜ͷ͜ͱ͔Βɼਓؒ͸ಛʹҙ
ࣝͤͣͱ΋޼៛ੑʹ༏ΕΔར͖खͰਫ਼ີ೺Ѳಈ࡞Λ࣮ࢪ͍ͯ͠Δ͜ͱ͕෼͔Δɽ
࣮ࡍʹɼਓؒ͸ର৅෺Λ௚઀‫ͯ͘ͳ͍ͯݟ‬΋ɼίοϓͳͲΛ‫׈‬Γམͱ͢͜ͱͳ͘೺ѲͰ
͖Δɽ͞Βʹɼίοϓʹӷମ͕஫͕Εͯॏྔ͕૿Ճͯ͠΋ɼίοϓΛ‫׈‬Γམͱ͞ͳ͍Α͏
ʹޮ཰ྑ͘೺ѲྗΛௐ੔Ͱ͖Δɽ͜ͷͱ͖ɼߗ͞΍ॏ͞ͷҧ͍΍ૉࡐͷҧ͍ʹΑΔྗͷௐ
અͷΈͳΒͣɼ࣌ؒతʹมԽ͢Δ֎෦͔ΒͷӨ‫ڹ‬ʢ֎ཚʣʹର͢Δྗͷௐઅͷೳྗ΋‫ٻ‬Ί
ΒΕΔɽ͜ͷΑ͏ͳਫ਼ີ೺Ѳಈ࡞͸ɼFig. 1.2 ʹࣔ͢‫֮ײ‬ӡಈ౷߹‫ػ‬ೳʹΑΓ࣮‫͞ݱ‬Εͯ
͍Δ [26]- [32]ɽ͜͜Ͱɼਓؒ͸ର৅෺͔Βͷࢹ֮ͷ৘ใɼࢦෲ͔Βͷ৮ѹ֮ͷ৘ใɼखࢦ
ͷ‫ݻ‬༗‫֮ײ‬ͷ৘ใΛ೴಺Ͱ౷߹͠ɼ໨తʹ߹Θͤͨಈ࡞Λ‫ܭ‬ը͍ͯ͠Δɽ͜ΕΒͷखࢦͷ
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳʹ‫ͮ͘ج‬ಈ࡞ͷ࣮ࢪ‫ޙ‬ɼ೴ͷ಺෦Ϟσϧ͕ߋ৽͞Εͯ৽͍͠ಈ࡞ͷ֫ಘɼ
ͳΒͼʹಈ࡞ͷशख़Λਤ͍ͬͯΔ [30]ɽ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑΛධՁ͢ΔͨΊʹɼਓ͕ؒର৅෺Λਫ਼ີ೺Ѳ͢Δͱ͖ʹௐ
੔͢Δ೺ѲྗΛ‫ܭ‬ଌ͢ΔγεςϜΛ։ൃ͢Δඞཁ͕͋ΔɽຊষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚
Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃ͢ΔͨΊʹɼ‫ޙ‬ड़͢Δཁ‫༷࢓ٻ‬Λຬͨͨ͠ॏྔՄ
มࣜ೺Ѳྗ‫ܭ‬ଌγεςϜɼͳΒͼʹਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃ͠ɼ
ए೥݈ৗऀͷར͖खͱඇར͖खΛൺֱͨ͠ྟচࢼ‫ݧ‬Λߦ͏ɽ
4.2
4.2.1
޼៛ੑධՁͷͨΊͷॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜ
໨త
ɹຊઅͰ͸ɼ‫ڞ‬ಉ‫͋Ͱऀڀݚ‬Δ࡞‫ྍۀ‬๏࢜ΒͷχʔζΛ‫ʹج‬ɼԼ‫ه‬ͷ 4 ͭͷཁ‫( ༷࢓ٻ‬1)ʙ
(4) Λຬͨ͢ॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜΛ։ൃ͢Δɽ
ྟচ‫ݱ‬৔ʹ͓͍ͯɼ‫ऀױ‬ͷ਎ମʹηϯα΍‫ܭ‬ଌ༻ϚʔΧʔΛऔΓ෇͚ͯ‫ܭ‬ଌΛߦ͏͜ͱ
͸ɼ਎ମతɾ৺ཧతͳෛ୲ͷ‫͔఺؍‬Β޷·͘͠ͳ͍ɽ·ͨɼखࢦ‫ػ‬ೳʹো֐ͷ͋Δ‫ʹऀױ‬ର
4.2. ޼៛ੑධՁͷͨΊͷॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜ
47
ͯ͠ɼ೺ѲҐஔΛ‫ࢦʹີݫ‬ఆ͢Δ͜ͱ͸ࠔ೉Ͱ͋Δɽ͕ͨͬͯ͠ɼຊষ๯಄Ͱ΋ड़΂ͨͱ
͓Γɼର৅෺ͦͷ΋ͷ͕೺ѲྗΛ‫ܭ‬ଌͰ͖Δඞཁ͕͋Δɽͦ͜Ͱɼ೺ѲྗΛௐ੔͍ͯ͠Δ
༷ࢠΛ໨ࢹͰ͖ΔΑ͏ʹɼ஄ੑମΛ೺ѲσόΠεͱͯ͠༻͍Δඞཁ͕͋Δʢཁ‫( ༷࢓ٻ‬1)ʣɽ
͞Βʹɼ༷ʑͳ‫ʹऀױ‬ద༻ͤ͞ΔͨΊʹɼ஄ੑମͷߗ͞͸มߋՄೳͰ͋Δඞཁ͕͋Δʢཁ
‫( ༷࢓ٻ‬2)ʣɽͦͷࡍʹ͸ɼ೺ѲσόΠεʹՃ͑ΒΕͨ೺ѲྗͷมԽΛఆྔతͳ਺஋ͱͯ͠
ஞ࣍දࣔɾอଘͰ͖ΔΑ͏ʹ͢Δඞཁ͕͋Δʢཁ‫( ༷࢓ٻ‬3)ʣɽ·ͨɼର৅෺ͷॏྔ͕࣌ؒ
มԽ͢Δ֎ཚΛ༩͑ΒΕΔͱɼਓؒ͸೺ѲྗΛසൟʹௐ੔͢Δ͜ͱʹͳΔɽ͜ͷΑ͏ͳ೺
Ѳྗͷௐ੔͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑʹΑͬͯൃ‫͞ش‬ΕΔͨΊɼର৅෺ͷॏྔ͸ม
ߋՄೳͰ͋ΓɼมԽ͢Δඞཁ͕͋Δʢཁ‫( ༷࢓ٻ‬4)ʣɽ
4.2.2
೺Ѳྗ‫ܭ‬ଌγεςϜ
ɹཁ‫( ༷࢓ٻ‬1)ɼ(2) Λຬͨͨ͢Ίͷɼ೺ѲσόΠεͷ֎‫؍‬Λ Fig. 4.1 (a), (b) ʹࣔ͢ɽ೺
ѲσόΠεͷߴ͞͸ 80 mmɼ֎‫ܘ‬͸ 65 mm Ͱ͋Γɼॏྔ͸ 120 g Ͱ͋Δɽߏ଄͸ɼԘԽϏ
χϧ੡ͷύΠϓΛ൒ׂͨ͠΋ͷͷย୺෦Λ௏൪Ͱ‫ݻ‬ఆ͠ɼ൓ྗΛఏࣔ͢ΔͨΊͷ൘͹Ͷ 2
ຕͱɼม‫ྔܗ‬Λ‫ܭ‬ଌ͢ΔͨΊͷύΠήʔδΛऔΓ෇͚͍ͯΔɽ௏൪Λ༻͍ͨ։ดߏ଄ͱ͢
Δ͜ͱʹΑΓɼม‫޲ํܗ‬ͷ‫ن‬ఆΛ࣮‫ͨ͠ݱ‬ɽύΠήʔδ͸ɼύΠ‫ʹܕ‬࿷‫ͨͤ͞ۂ‬͹Ͷ൘ͷ
ෲ෦෼ͷදཪʹ࿪ΈήʔδΛ 2 ຕͣͭ 4 ΞΫςΟϒήʔδ๏ͰషΓ෇͚ͨ΋ͷͰ͋Γɼ೺
ѲσόΠεͷม‫ʹܗ‬൐͏େ͖ͳͨΘΈΛ҆ఆͯ͠‫ܭ‬ଌͰ͖Δɽ͜͜Ͱɼ೺ѲσόΠεͷม
‫ ྔܗ‬d ͸ɼFig. 4.1 (c), (d) ʹࣔ͢֎‫ ܘ‬di ͱ dg Λ༻͍ͯఆٛ͢Δɽd ͸ɼม‫ܗ‬લͷ೺Ѳσό
Πεͷ෯ di ͱม‫ޙܗ‬ͷ೺ѲσόΠεͷ෯ dg ͷ͔ࠩΒɼࣜ (4.1) ͷΑ͏ʹఆٛͨ͠ɽ
d = d i − dg
(4.1)
೺ѲσόΠεΛ೺Ѳ͢ΔͱɼՃ͑ͨ֎ྗʹԠͯ͡൘͹Ͷ͕ͨΘΈɼ೺ѲσόΠεͷ։‫ޱ‬෦
͸։ด͢ΔͨΊɼ೺ѲྗΛࢹ֮తʹ֬ೝ͢Δ͜ͱ͕Ͱ͖Δɽ͜ͷͱ͖ɼ൘͹Ͷʹ͸ѹॖՙ
ॏͱ‫͛ۂ‬ՙॏ͕ಇͨ͘Ίɼ൘͹Ͷ͸ S ࣈঢ়ʹͨΘΉɽ೺ѲσόΠεΛɼ֎‫ ܘ‬65 mm ͔Β 56
mm ʹม‫͖ͱͨͤ͞ܗ‬ͷ༷ࢠΛ Fig. 4.1 (d) ʹࣔ͢ɽ͜͜Ͱɼ෯ͷҟͳΔ൘͹Ͷʹަ‫͢׵‬Δ
͜ͱʹΑΓɼ೺Ѳ͞Εͨࡍͷ൓ྗΛௐ੔͢Δ͜ͱ͕Ͱ͖Δɽ
೺ѲྗΛ‫ܭ‬ଌ͢ΔͨΊͷ πWakkaʢҎԼɼπWakka ͱ‫Ϳݺ‬ʣͷߏ੒ͱ֎‫؍‬ΛɼͦΕͧΕ
Fig. 4.2 ͱ Fig. 4.3 ʹࣔ͢ɽཁ‫( ༷࢓ٻ‬3) Λຬͨͨ͢ΊɼπWakka ͷγεςϜ͸ɼ೺Ѳσό
ΠεɼΞϯϓϘοΫεɼϊʔτ PC ͔Βߏ੒͞ΕΔΑ͏ʹͨ͠ɽΞϯϓϘοΫε͸ɼϒϦο
δճ࿏ͱΞϯϓճ࿏ͱϚΠίϯͰߏ੒͞ΕΔɽύΠήʔδʹషΓ෇͚ΒΕͨ࿪Έήʔδͷ
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
48
Pi-shape gauge (strain gauge)
Leaf spring
Hinge
(a) Front view
(b) Back view
di
(c) Top view
dg
(d) Top view during grip motion
Fig. 4.1 Grip device
఍߅஋ΛϒϦοδճ࿏Ͱిѹʹม‫ͯ͠׵‬΋ɼ͜ͷग़ྗిѹ͸਺ϛϦϘϧτͱඇৗʹඍখͳ
ͨΊɼΞϯϓͰ 1000 ഒʹ૿෯͢Δඞཁ͕͋Δɽ૿෯ͨ͠ిѹΛγϦΞϧ௨৴Ͱύιίϯଆ
ʹग़ྗ͢ΔͨΊʹɼAVR ϚΠίϯϘʔυͷ Arduino Λ༻͍ͨɽArduino ͸ɼ୯७ͳೖग़ྗ
Λඋ͑ͨ‫ج‬൘ͱ Processing ‫ޠݴ‬Λ࣮૷ͨ͠։ൃ‫͔ڥ؀‬Βߏ੒͞ΕͨγεςϜͰ͋Γɼϓϩ
τλΠϓͷ։ൃʹద͍ͯ͠Δɽ
ύιίϯͰड͚औͬͨग़ྗిѹͷஞ࣍දࣔɼͳΒͼʹ೺Ѳྗ΁ͷ‫ͱࢉ׵‬දࣔɾอଘΛ࣮
‫͢ݱ‬ΔͨΊʹɼFig. 4.4 ʹࣔ͢‫ܭ‬ଌιϑτΛ Java ‫Ͱޠݴ‬։ൃͨ͠ɽFig. 4.4 ͷ೾‫ܗ‬͸ग़ྗ
ిѹͷ࣌ؒมԽΛ͓ࣔͯ͠Γɼ‫ܭ‬ଌ։࢝Ϙλϯ͕ԡ͞Εͯ‫ܭ‬ଌऴྃϘλϯ͕ԡ͞ΕΔ·Ͱ
4.2. ޼៛ੑධՁͷͨΊͷॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜ
49
Fig. 4.2 Block diagram of measurement system
Laptop PC
Glip device
Amp. box
Fig. 4.3 Measurement system
ͷؒɼαϯϓϦϯάप೾਺ 30 Hz Ͱग़ྗిѹɼͳΒͼʹग़ྗిѹ͔Β‫͞ࢉ׵‬Εͨ೺Ѳྗ͕
࣌‫Ͱྻܥ‬อଘ͞ΕΔɽ·ͨɼ‫ܭ‬ଌΛ؆ศ͢ΔͨΊͷθϩ఺ௐ੔Ϙλϯ౳ͷ‫ػ‬ೳΛ࣋ͭɽ
೺ѲσόΠεͷύΠήʔδΑΓग़ྗ͞Εͨిѹ஋͔Βɼ೺Ѳྗ΁ͷ‫͍ͯͭʹࢉ׵‬ड़΂Δɽ
‫ʹࢉ׵‬ඞཁͱͳΔಛੑΛಘΔͨΊʹɼઐ༻ͷ࣮‫૷ݧ‬ஔΛ༻͍ͨɽ࣮‫૷ݧ‬ஔ͸ɼྗ‫ܭ‬ଌ༻ϩʔ
υηϧɼҐஔ‫ݕ‬ग़༻Τϯίʔμ͓ΑͼʹϚΠίϯ͔Βߏ੒͞ΕΔɽ࣮‫૷ݧ‬ஔͷ։‫ޱ‬෦ʹ೺
ѲσόΠεΛऔΓ෇͚ͯɼ࣮‫૷ݧ‬ஔͷϋϯυϧΛճͯ͠ແஈ֊ʹ։ดͤ͞Δɽ೺ѲσόΠ
εͷม‫ྔܗ‬͸Τϯίʔμ͔ΒऔಘͰ͖ɼ೺ѲσόΠεͷ൓ྗ͸ϩʔυηϧ͔ΒऔಘͰ͖Δɽ
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
50
Fig. 4.4 Display monitoring
͜ͷͱ͖ͷ‫ܭ‬ଌͷαϯϓϦϯάप೾਺͸ 30 Hz Ͱ͋Δɽ͕ͨͬͯ͠ɼ೺ѲσόΠεͷม‫ܗ‬
ྔʹ൐͏ग़ྗిѹɼͳΒͼʹม‫ͱྔܗ‬൓ྗ͸ಉ‫ͯ͠ظ‬࿈ଓతʹऔಘͰ͖Δɽ೺ѲσόΠε
ͷม‫ʹܗ‬Αͬͯੜ͡Δग़ྗిѹͱ൓ྗͷؔ܎Λग़ྗిѹʵ൓ྗಛੑɼ೺ѲσόΠεͷ߶ੑ
ಛੑΛࣔͨ͢Ίͷม‫ͱྔܗ‬൓ྗͷؔ܎Λม‫ྔܗ‬ʵ൓ྗಛੑͱఆٛ͢ΔɽπWakka ͷग़ྗి
ѹʵ൓ྗಛੑΛ Fig. 4.5 ʹɼม‫ྔܗ‬ʵ൓ྗಛੑΛ Fig. 4.6 ʹࣔ͢ɽFig. 4.5 ͱ Fig. 4.6 ͷ݁
ՌΑΓɼม‫ʹܗ‬൐͏ग़ྗిѹͱ൓ྗ͸୯ௐ૿Ճ͓ͯ͠Γɼ൓ྗͱ೺Ѳྗ͸࡞༻ɾ൓࡞༻ͷ
ؔ܎Ͱ͋ΔͨΊɼπWakka ͸ग़ྗిѹ͔Β൓ྗɼ͢ͳΘͪ೺ѲྗΛ‫ܭ‬ଌͰ͖ΔγεςϜͰ
͋Δ͜ͱΛ֬ೝͨ͠ɽ
Ҏ্ͷΑ͏ʹɼ೺ѲσόΠεΛਫ਼ີ೺Ѳ͢Δͱ͖ʹௐ੔͞ΕΔ೺Ѳྗ‫ܭ‬ଌγεςϜ πWakka
Λ։ൃͨ͠ɽπWakka ͸ɼ೺Ѳྗͷஞ࣍දࣔɾอଘͱɼߗ͞Λมߋ͢Δ‫ػ‬ೳʢཁ‫( ༷࢓ٻ‬1)
ʙ(3) ʹର͢Δ‫ػ‬ೳʣΛ༗͍ͯ͠Δɽ
4.2. ޼៛ੑධՁͷͨΊͷॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜ
51
3
Reaction force [N]
2.5
2
1.5
1
0.5
0
0
1
2
3
Output voltage [V]
4
5
Fig. 4.5 Characteristics of output voltage and reaction force
3
Reaction force [N]
2.5
2
1.5
1
0.5
0
0
1
2
3
4
5
6
Deformation [mm]
7
8
9
Fig. 4.6 Characteristics of deformation and reaction force
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
52
Grip devicedevice
Measurement
Distance
measuringSensor
sensor
Distance
Measuring
50 mm
mm
50
End point
Starting point
Springfor
foradded
weighting
Spring
weighton
ofdevi
(Add
weight
as
raised
height
grip device
Fig. 4.7 Measurement device for added weight
4.2.3
ॏྔՄมγεςϜ
ɹཁ‫( ༷࢓ٻ‬4) Λຬͨͨ͢Ίʹ։ൃͨ͠ॏྔՄมγεςϜͷ֎‫؍‬Λ Fig. 4.7 ʹࣔ͢ɽ͜ͷ
૷ஔ͸ɼ೺ѲσόΠεͷԼʹऔΓ෇͚Δߏ଄ͱͳ͓ͬͯΓɼ೺ѲσόΠεͷ্࣋ͪ͛ྔʹ
Ԡͯ͡ॏ͘ͳΔ‫ͱߏػ‬ɼͦͷ্࣋ͪ͛ྔΛஞ࣍‫ܭ‬ଌͰ͖Δ‫ػ‬ೳΛ༗͍ͯ͠Δɽ೺ѲσόΠ
εͷচԼʹ઀ଓͨ͠ҾுίΠϧ͹ͶʹΑΓɼ্࣋ͪ͛ྔʹԠͯ͡૿Ճ͢ΔॏྔΛ࠶‫ͯ͠ݱ‬
͍Δɽ͜͜ͰɼҟͳΔ͹Ͷఆ਺ͷҾுίΠϧ͹Ͷʹมߋ͢Δ͜ͱʹΑΓɼ্࣋ͪ͛ॏྔΛ
ௐ੔͢Δ͜ͱ͕Ͱ͖Δɽ·ͨɼচԼʹઃஔͨ͠੺֎ઢࣜͷଌҐηϯαʹΑΓɼ্࣋ͪ͛ߴ
͞Λ‫ܭ‬ଌͰ͖Δɽ
೺ѲσόΠεΛ 50 mm ͷߴ͞·Ͱ্࣋ͪ͛Δ༷ࢠΛ Fig. 4.8 ʹࣔ͢ɽ೺ѲσόΠεΛ 50
mm ͷߴ͞·Ͱ্࣋ͪ͛ͨͱ͖ͷॏྔ͸ɼຊདྷͷ 120 g ͔ΒԾ૝తʹ࠷େ 242.2 g ·Ͱ૿Ճ
͢Δɽ͜ͷ͜ͱ͔Βɼ೺ѲσόΠεΛยखͰม‫͍ͳͤ͞ܗ‬Α͏ʹ্࣋ͪ͛Α͏ͱͨ͠ͱ͖ɼ
ৗʹ೺ѲྗΛௐ੔͢Δඞཁ͕͋ΔɽFig. 4.8 (b) ͱ Fig. 4.8 (c) Λൺֱ͢ΔͱɼFig. 4.8 (c)
ͷํ͕೺ѲσόΠεͷ։‫ޱ‬෦͕‫͓ͯͬͳ͘ڱ‬Γɼ೺ѲσόΠεΛམԼͤ͞ͳ͍ͨΊͷ೺Ѳ
ྗ͕૿Ճ͍ͯ͠Δ͜ͱ͕෼͔Δɽ
Ҏ্ͷΑ͏ʹɼཁ‫( ༷࢓ٻ‬4) Λຬͨ͢ॏྔՄมγεςϜΛ։ൃͨ͠ɽཁ‫( ༷࢓ٻ‬1)ʙ(3) Λ
ຬͨ͢ πWakka ͱɼཁ‫( ༷࢓ٻ‬4) Λຬͨ͢ॏྔՄมγεςϜΛ૊Έ߹ΘͤΔ͜ͱʹΑͬͯɼ
શͯͷཁ‫༷࢓ٻ‬Λຬͨ͢ॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽ
4.3. ೺Ѳྗͷௐ੔࣮‫ݧ‬
53
(a) Starting point
(Weight = 120 g )
(b) Midpoint
(Weight = 180 g )
(c) End point
(Weight = 242 g )
Fig. 4.8 Lift-up motion of grip device
4.3
4.3.1
೺Ѳྗͷௐ੔࣮‫ݧ‬
໨త
ɹຊઅͰ͸ɼਫ਼ີ೺Ѳಈ࡞࣌ʹௐ੔͞ΕΔ೺Ѳྗͷ‫ܭ‬ଌ݁Ռ͔Βɼ޼៛ੑͷఆྔతධՁࢦ
ඪΛநग़͢ΔͨΊͷ࣮‫ݧ‬Λߦ͏ɽͦ͜ͰɼπWakka Λ‫ؚ‬Ή Fig. 4.7 ͷ೺Ѳྗ‫ܭ‬ଌγεςϜ
Λɼए೥݈ৗऀͷར͖खͱඇར͖खʹద༻͢Δɽ
4.3.2
࣮‫ํݧ‬๏
ɹ೺ѲσόΠεΛยखͰͰ͖Δ͚ͩม‫͍ͳͤ͞ܗ‬Α͏ʹ೺Ѳͯ͠ɼ50 mm ͷߴ͞·Ͱ࣋ͪ
্͛ΔλεΫΛߟ͑Δɽ͜ͷͱ͖ͷ༷ࢠΛ Fig. 4.9 ʹࣔ͢ɽඃ‫ऀݧ‬͸Ҝࢠʹ࠲Γɼ‫ʹص‬ග
Λͭ͘ɽ͜ͷͱ͖ɼඃ‫ऀݧ‬ͷ‫͔ڳ‬Β 300 mm ͱͳΔҐஔʹ೺ѲσόΠεΛஔ͘ɽ͜ΕΛॳ
‫ظ‬Ґஔͱ͢Δɽର৅ͱͨ͠ඃ‫ऀݧ‬͸ 20 ୅ͷ݈ৗஉࢠ 10 ໊Ͱ͋Γɼຊ‫ڀݚ‬ͷझࢫΛઆ໌͠
ಉҙΛಘΒΕͨऀͷΈΛର৅ͱͨ͠ɽॱংޮՌΛഉ͢ΔͨΊʹɼར͖ख͔Β‫ܭ‬ଌͨ͠‫ͱ܈‬
ඇར͖ख͔Β‫ܭ‬ଌͨ͠‫Ͱͱ܈‬൒෼ͣͭ 2 άϧʔϓʹ෼͚ͨɽར͖खͷ൑அ͸ɼEdinburgh
handedness inventory [65] Λ༻͍ͨɽͦͷ݁Ռɼඃ‫ऀݧ‬શһ͕ӈར͖Ͱ͋ͬͨɽ
͜͜Ͱ͸ɼར͖ख͔Β‫ܭ‬ଌͨ͠άϧʔϓͷ࣮ࢪํ๏ʹ͍ͭͯड़΂Δɽ·ͣɼඃ‫ऀݧ‬͸ॳ
‫ظ‬ҐஔͰɼගΛ‫͍ͨͭʹص‬ঢ়ଶͰ଴‫͢ػ‬Δɽ࣍ʹɼFig. 4.9 ʹࣔ͢Α͏ʹɼගΛ‫͍ͭʹص‬
ͨ··ར͖खͰ೺ѲσόΠεΛ೺Ѳͯ͠ɼ50 mm ͷߴ͞·Ͱ໿ 10 mm/s ͷ଎౓Ͱ্࣋ͪ
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
54
Fig. 4.9 Experimental equipment
͛Δɽ͜ͷͱ͖ͷ্࣋ͪ͛଎౓͸ɼ໨҆ͷεϐʔυΛମ‫ͤ͞ݧ‬Δ͜ͱͰ࠶‫ͨͤ͞ݱ‬ɽ·ͨɼ
ඃ‫ؒऀݧ‬ͷ೺Ѳ࢟ҐΛଗ͑ΔͨΊʹɼѲΓҐஔΛ༧Ίࢦఆͯ͠ɼখࢦΛ࢖Θͳ͍Α͏ʹࢦ
ࣔͨ͠ɽ͞Βʹɼ೺ѲσόΠεΛͰ͖Δ͚ͩม‫͍ͳͤ͞ܗ‬Α͏ʹࢦࣔͨ͠ɽͦͷ‫ޙ‬ɼ೺Ѳ
σόΠεΛ‫ص‬ͷ‫ݩ‬ͷҐஔʹ໭ͯ͠ॳ‫ظ‬ҐஔͰ଴‫͢ػ‬Δɽ͜ΕΒΛ 1 ηοτͱͯ͠ɼඇར͖
खʹ͓͍ͯ΋ಉ༷ʹ࣮ࢪͨ͠ɽ
4.3. ೺Ѳྗͷௐ੔࣮‫ݧ‬
55
Fig. 4.10 Results of measurement
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
56
4.3.3
࣮‫݁ݧ‬Ռ
ɹඃ‫ ऀݧ‬10 ໊ͷ͏ͪɼ1 ໊ͷར͖खͱඇར͖खͷ࣮‫݁ݧ‬ՌΛɼͦΕͧΕ Fig. 4.10 (a) ͱ (b)
ʹࣔ͢ɽԣ࣠͸্࣋ͪ͛ߴ͞Λ͓ࣔͯ͠Γɼॎ࣠͸೺Ѳྗʹ૬౰͢Δ೺ѲσόΠεͷग़ྗ
ిѹΛࣔ͢ɽ
࣮‫݁ݧ‬Ռʹ͍ͭͯɼར͖खɾඇར͖खͱ΋ʹɼ্࣋ͪ͛ߴ͞ʹԠͯ͡೺Ѳྗ͕૿Ճ͢Δ
͜ͱΛ֬ೝͰ͖ͨɽ·ͨɼར͖खɾඇར͖खͱ΋ʹɼ্࣋ͪ͛ߴ͞ 5 mm ҎԼʹ͓͍ͯɼ೺
Ѳྗ͕‫૿ʹܹٸ‬Ճ͍ͯͨ͠ɽ͜Ε͸֤ඃ‫͕ऀݧ‬ɼ೺ѲσόΠε্࣋ͪ͛ͷॳ‫ظ‬ஈ֊ʹ͓͍
ͯɼ೺ѲσόΠεΛམͱ͞ͳ͍Α͏ʹ೺Ѳͨͨ͠Ίͩͱߟ͑ΔɽҰํɼར͖ख͸ɼ50 mm
ͷߴ͞·Ͱ্࣋ͪ͛ͨͱ͖ͷ೺Ѳྗ͕ඇར͖खΑΓ΋খ͔ͬͨ͞ɽ·ͨɼར͖ख͸ɼ࣋ͪ
্͛ߴ͞ 5 mm ͔Β 50 mm ͷൣғʹ͓͍ͯɼൺྫతʹ૿Ճ͢Δ೺ѲσόΠεͷॏྔʹର͢
Δ௥ैੑ͕ඇར͖खΑΓ΋༏Ε͍ͯͨɽ
Ҏ্ʹࣔͨ͠ར͖खͱඇར͖खͷ೺Ѳྗͷ܏޲͸ɼଞͷ 9 ໊ͷඃ‫͍͓ͯʹऀݧ‬΋ಉ༷Ͱ
͋ͬͨɽຊ‫Ͱڀݚ‬͸ɼ޼៛ੑͷධՁͷͨΊʹɼར͖खͱඇར͖खͷҧ͍ʹண໨͢Δɽͭ·
Γɼ࣍ষͰ͸ 50mm ্࣋ͪ͛ͨͱ͖ͷ೺Ѳྗͷେ͖͞ͷҧ͍ͱɼॏྔʹର͢Δ௥ैੑͷҧ
͍ʹண໨ͯ͠ɼਫ਼ີ೺Ѳಈ࡞͓͚Δ޼៛ੑͷఆྔతධՁ๏ΛఏҊ͢Δɽ
4.4
4.4.1
޼៛ੑͷఆྔతධՁ๏
໨త
ɹ 4.3 અͷ೺Ѳྗͷௐ੔࣮‫Ͱݧ‬͸ɼए೥݈ৗऀͷར͖खͱඇར͖खʹ͚Δ೺Ѳྗௐ੔ͷ༷
ࢠͷҧ͍Λ֬ೝͨ͠ɽຊઅͰ͸ɼ͜ͷ݁ՌΛ΋ͱʹਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔత
ධՁ๏ΛఏҊ͢Δɽͦ͜Ͱɼ޼៛ੑͷධՁࢦඪͱͯ͠೺Ѳྗௐ੔ೳྗΛఆٛ͢Δɽ͜͜Ͱ
ͷ೺Ѳྗௐ੔ೳྗͱ͸ɼ্࣋ͪ͛ྔʹԠͯ͡ॏ͘ͳΔ೺ѲσόΠεʹରͯ͠ɼ೺Ѳྗͷௐ
੔Λৗʹਖ਼֬ʹߦ͑Δೳྗͱߟ͑Δɽ
4.4.2
ఆྔతධՁ๏ͷఏҊ
ɹ Fig. 4.10 ʹҰྫΛࣔͨ݁͠Ռʹ͓͍ͯɼ೺Ѳྗௐ੔ೳྗΛར͖खͱඇར͖खͰൺֱ͢Δ
ͨΊʹɼFig. 4.11 ͷΑ͏ͳॲཧΛࢪͨ͠ɽਤதͷ࣮ઢ͸‫ܭ‬ଌ͞Ε࣮ͨσʔλͰ͋Γɼ఺ઢ
͸্࣋ͪ͛ྔ 5 mmʙ50 mm ؒͷ࣮σʔλͷۙࣅ௚ઢͰ͋ΔɽS ͸্࣋ͪ͛ྔ 5mmʙ50mm
ͷൣғͰ࣮ઢͱۙࣅ௚ઢͰғ·Εͨ໘ੵ mmVɼa ͸ۙࣅ௚ઢͷ܏͖ V/mmɼb ͸ۙࣅ௚ઢ
4.4. ޼៛ੑͷఆྔతධՁ๏
57
Fig. 4.11 Quantitative evaluation of adjustment ability of grip force
ͷ੾ย Vɼc ͸ 50 mm ͷߴ͞ͷͱ͖ͷ೺Ѳྗʹ૬౰͢Δग़ྗిѹ VʢҎԼɼ౸ୡ࣌೺Ѳྗ
ͱ‫Ϳݺ‬ʣͰ͋Δɽͳ͓ɼ໘ੵ S ͸ࣜ (4.2) Ͱ༩͑ΒΕΔɽ
S=
N
−1
{|v(k) − y(k)| + |v(k + 1) − y(k + 1)|} ·
k=1
L(k + 1) − L(k)
2
ɼɹ N =
T
ΔT
(4.2)
͜͜ͰɼL(k) ͸্࣋ͪ͛ߴ͞ɼv(k) ͸‫ܭ‬ଌ͞Ε࣮ͨσʔλɼy(k) ͸ۙࣅ௚ઢͷσʔλɼN
͸αϯϓϦϯά਺ɼT ͸‫ܭ‬ଌ࣌ؒ [s]ɼΔT ͸αϯϓϦϯά࣌ؒ [s] Ͱ͋Δɽ
೺Ѳྗௐ੔ೳྗͷධՁ஋ͱͯ͠ɼ໘ੵ S Λ༻͍Δɽ͜ͷධՁ஋ʹରͯ͠ɼར͖खͱඇར
͖खͱ͍͏ରԠ͢Δ 2 ‫Ͱؒ܈‬ൺֱΛߦ͏ɽ฼ूஂ͕ਖ਼‫ن‬෼෍ͱ͍͏લఏ৚݅Λຬͨͨ͢Ίɼ
ରԠ͋Γͷ t ‫ݕ‬ఆΛ༻͍ͨɽͳ͓ɼ༗ҙ֬཰͸ 5% ະຬͱͨ͠ɽ
٦ [64] ʹΑΔͱɼར͖ख͸ඇར͖खΑΓ΋޼៛ੑʹ༏ΕΔ͜ͱ͕ใࠂ͞Ε͍ͯΔɽͨ͠
͕ͬͯɼຊ‫Ͱڀݚ‬ఏҊͨ͠ධՁ஋ S ʹ͍ͭͯɼඇར͖ख͸ඇར͖खΑΓ΋༗ҙʹখ͍͞ͱ
͍͏݁Ռ͕ಘΒΕͨͱ͖ɼఏҊ‫ܭ‬ଌγεςϜ͸ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
ʹར༻Ͱ͖Δͱߟ͑Δɽ
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
58
Fig. 4.12 Results of adjustment ability of grip force
4.4.3
ධՁ݁Ռ
ɹ໘ੵ S ʹ͍ͭͯɼର৅ͱͨ͠ඃ‫ ऀݧ‬10 ໊ͷར͖खͱඇར͖खͰൺֱͨ݁͠ՌΛɼͦΕͧ
Ε Fig. 4.12 ʹࣔ͢ɽന৭ͷ๮άϥϑ͸ར͖खͷ݁Ռɼփ৭ͷ๮άϥϑ͸ඇར͖खͷ݁ՌͰ
͋Δɽར͖ख͸ඇར͖खΑΓ΋ɼධՁ஋ S ͕খ͘͞ɼ༗ҙࠩ΋ೝΊΒΕͨɽͳ͓ɼ༗ҙ֬
཰͸ɼp = 0.0420 Ͱ͋ͬͨɽ
͕ͨͬͯ͠ɼ٦ [64] ͷ‫ڀݚ‬ใࠂͱಉ༷ɼ20 ୅ͷ݈ৗஉࢠͷར͖ख͸ɼඇར͖खΑΓ΋೺
Ѳྗௐ੔ೳྗʹ༏ΕΔɽͭ·Γɼར͖खͷํ͕ਫ਼ີ೺Ѳಈ࡞ͷ޼៛ੑʹ༏ΕΔ͜ͱΛ֬ೝ
Ͱ͖ͨɽ͜ͷ͜ͱ͔Βɼ։ൃͨ͠γεςϜ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
ʹར༻Ͱ͖Δ͜ͱ͕ࣔࠦ͞Εͨɽ
4.5. ͓ΘΓʹ
4.5
59
͓ΘΓʹ
ɹຊষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃͨ͠ɽ͜ͷͨΊʹɼ
ߗ͞ͱॏྔΛมߋՄೳͳॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽ·ͨɼ։ൃͨ͠ॏྔ
Մมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜΛɼए೥݈ৗऀʹద༻ͨ݁͠Ռʹ‫͍ͯͮج‬ɼਫ਼ີ೺Ѳಈ࡞ʹ͓
͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃͨ͠ɽैདྷ‫ڀݚ‬ͷ஌‫ͱݟ‬ए೥݈ৗऀʹఏҊධՁ๏Λద༻
ͨ݁͠Ռ͕Ұக͢Δ͜ͱ͔ΒɼఏҊఆྔతධՁγεςϜͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽຊষͷ੒Ռ
ΛҎԼʹ·ͱΊΔɽ
1. ϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ͷχʔζ͔Βɼཁ‫( ༷࢓ٻ‬1)ʙ(4) Λࡦఆ͠ɼਫ਼ີ೺Ѳ
ಈ࡞ʹ͓͚Δ೺Ѳྗͷ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽ։ൃͨ͠೺ѲσόΠε͸ɼσόΠε
ʹՃ͑ΒΕͨ೺Ѳྗ͕มԽ͢Δ༷ࢠΛ໨ࢹͰ͖ΔΑ͏ʹ஄ੑମͱ͠ɼ೺ѲྗΛ‫ܭ‬ଌͰ
͖ΔΑ͏ʹ࿪ΈήʔδΛར༻ͨ͠ɽ·ͨɼม‫ͱྔܗ‬൓ྗΛஞ࣍දࣔՄೳͳ‫ܭ‬ଌιϑτ
Λ։ൃͨ͠ɽ͜ΕΒʹΑΓɼࢹ֮ʹରͯ͠ɼ೺ѲσόΠεͷม‫ͱྔܗ‬೺ѲྗͷόΠΦ
ϑΟʔυόοΫΛ࣮‫ͨ͠ݱ‬ɽ
2. ೺ѲྗΛௐ੔͢Δ՝୊Λઃ‫͢ܭ‬ΔͨΊʹɼ೺ѲσόΠεͷ্࣋ͪ͛ߴ͞ʹԠͯ͡ॏྔ
͕࣌ؒมԽ͢ΔॏྔՄม૷ஔΛ։ൃͨ͠ɽ
3. ޼៛ੑͷҰͭͷධՁࢦඪͱͯ͠೺Ѳྗௐ੔ೳྗΛఆٛ͠ɼͦͷఆྔతධՁ๏Λ։ൃ͠
ͨɽઃఆͨ͠՝୊ʹ͓͚Δಈ࡞ͷ଎͞Λଗ͑Δ͜ͱʹΑΓɼௐ੔ͷਖ਼֬͞Λ೺Ѳྗௐ
੔ೳྗͷධՁࢦඪͱͨ͠ɽ
4. ॏྔՄมࣜ೺Ѳྗ‫ܭ‬ଌγεςϜΛ༻͍ͨ޼៛ੑͷఆྔతධՁ๏Λɼए೥݈ৗऀͷར͖
खͱඇར͖खʹద༻ͨ͠ɽར͖ख͕޼៛ੑʹ༏ΕΔͱ͍͏ैདྷ‫ڀݚ‬ͷ஌‫ͱݟ‬ɼఏҊධ
Ձ๏ʹΑΔए೥݈ৗऀͷ೺Ѳྗௐ੔ೳྗͷ݁Ռʹߴ͍૬͕ؔ͋Δ͜ͱ͔ΒɼఏҊ‫ܭ‬ଌ
γεςϜΛ༻͍ͨఏҊධՁ๏ͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽ
ຊষͰࣔͨ͠੒Ռʹର͢Δྟচ‫ݱ‬৔ͷ੠Λ·ͱΊΔɽ‫ڞ‬ಉ‫ऀڀݚ‬ͷ࡞‫ྍۀ‬๏͔࢜Β͸ɼม
‫޲ํܗ‬Λ‫ن‬ఆͨ͜͠ͱʹΑΓ࠶‫ݱ‬ੑ͕޲্ͨ͠఺ɼ೺ѲσόΠεͷߗ͕͞มߋՄೳͰ͋Δ
఺ɼ‫ܭ‬ଌιϑτʹΑΓ೺ѲྗΛඃ‫͕ऀݧ‬ௐ੔͢Δ༷ࢠΛϦΞϧλΠϜʹ֬ೝͰ͖Δ఺Ͱ޷
ධͰ͋ͬͨɽ͕ͨͬͯ͠ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃͯ͠
΄͍͠ͱ͍͏ྟচ‫ݱ‬৔ͷχʔζʹԠ͑Δ͜ͱ͕Ͱ͖ͨɽ
60
ୈ 4 ষ ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
ࠓ‫ޙ‬ͷ՝୊ʹ͍ͭͯ·ͱΊΔɽ‫ݸ‬ʑͷ‫ऀױ‬ͷো͕͍ͷ౓߹ʹରԠ͢ΔͨΊʹɼ೺Ѳσό
Πεͷߗ͞Λߋʹ༰қʹมߋͰ͖Δߏ଄Λ࣮‫͢ݱ‬Δඞཁ͕͋Δɽ·ͨɼ೺ѲσόΠεͷม
‫ྔܗ‬ʵ൓ྗಛੑ͕ઢ‫ܗ‬ಛੑͰͳ͍ͨΊɼ೺Ѳ࣌ʹҧ࿨‫͕͋ײ‬Δɽͦ͜Ͱɼม‫ྔܗ‬ʵ൓ྗಛ
ੑ͕ઢ‫ܗ‬ಛੑͱͳΔ೺ѲσόΠεɼ͢ͳΘͪɼ͹Ͷఆ਺͕ҰఆͱͳΔ೺ѲσόΠεΛ։ൃ
͢Δඞཁ͕͋Δɽ
61
ୈ5 ষ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
5.1
͸͡Ίʹ
ɹୈ 4 ষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜΛ։ൃͨ͠ɽ͜ͷͨΊ
ʹ։ൃͨ͠೺ѲσόΠε͸ɼϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ʹಋೖ͢Δ্Ͱɼ೺ѲσόΠ
εͷߗ͞ͷมߋ͕ࠔ೉Ͱ͋Δͱ͍͏ٕज़త՝୊ͱɼม‫ྔܗ‬ʵ൓ྗಛੑʹ͓͍ͯઢ‫ܗ‬ಛੑͰ
͋Δ͜ͱɼ͢ͳΘͪɼ͹Ͷఆ਺͕ҰఆͰ͋Δ͜ͱͷ࣮‫ٕ͏͍ͱݱ‬ज़త՝୊͕࢒͞Ε͍ͯͨɽ
Ұํɼ೺ѲྗΛௐ੔͢Δ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹ͸ɼൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ɼͳΒͼʹ
ࢹ֮ʹରͯ͠ҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑Δඞཁ͕͋Δɽ͜ͷͨΊͷํ๏ͱͯ͠ɼม‫ܗ‬Λ൐͏೺
ѲσόΠεͷม‫ྔܗ‬ʵ൓ྗಛੑͷมߋ͕ߟ͑ΒΕΔɽ
ຊষͰ͸ɼม‫ྔܗ‬ʵ൓ྗಛੑͷมߋΛ࣮‫ߏ͍͠৽ͨ͠ݱ‬଄ͷ೺ѲσόΠεͷ։ൃ͠ɼए
೥݈ৗऀΛର৅ͱͨ͠ྟচࢼ‫͔ݧ‬Β༗ޮੑͷ‫ূݕ‬Λߦ͏ɽ
5.2
5.2.1
೺Ѳྗͷ‫ܭ‬ଌγεςϜ
໨త
ɹਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ػ֮ײ‬ೳΛ‫ݸ‬ผʹධՁ͢ΔͨΊʹɼ೺࣋࣌ͷൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬
ʹରͯ͠ҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑Δ͜ͱ͕Մೳͳ೺ѲσόΠεΛ։ൃ͢Δɽ೺ѲσόΠε಺
ͷ൘͹Ͷʹ͍ͭͯɼย࣋ͪྊͷߏ଄ͱ྆୺ࢧ࣋ͷߏ଄ͷ 2 छྨΛ࣮‫͢ݱ‬Δ͜ͱʹΑΓɼม
‫ྔܗ‬ʵ൓ྗಛੑ͕ઢ‫ܗ‬ಛੑͱ๞࿨ಛੑͱͳΔ೺ѲσόΠεΛઃ‫ܭ‬։ൃ͢Δɽ
5.2.2
ධՁ‫ݪ‬ཧ
ɹਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ػ֮ײ‬ೳʹ͍ͭͯɼ‫ݻ‬༗‫ͱ֮ײ‬ൽෘ‫֮ײ‬Λ੾Γ෼͚ͯࡉ෼Խͯ͠
ఆྔతධՁ͢ΔͨΊʹɼ೺Ѳಈ࡞࣌ʹҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔΑ޻෉͢Δɽ۩ମతʹ
͸ɼม‫͕ྔܗ‬େ͖͘ͳΔʹͭΕͯ൓ྗ͕େ͖͘ͳΔ೺ѲσόΠεͱɼม‫͕ྔܗ‬େ͖͘ͳͬ
ͯ΋൓ྗ͕΄ͱΜͲมԽ͠ͳ͍೺ѲσόΠεͷ 2 छྨΛ։ൃ͢Δɽ͜ΕʹΑΓɼ೺Ѳσό
ୈ5ষ
62
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
Motor function
Intention
Body
image
Trajectory
planning
Motion
Muscular
group
Physical
system
Visual sense
Vestibular sense
Proprioception
Skin䠄ex. Pressure sense)
Fig. 5.1 Evaluation method of sensorimotor integration function
Πεͷ೺࣋࣌ʹ͓͍ͯɼม‫ྔܗ‬Λ‫ײ‬஌͢Δ‫ݻ‬༗‫ͱ֮ײ‬൓ྗΛ‫ײ‬஌͢Δൽෘ‫ʹ֮ײ‬ରͯ͠ҟ
ͳΔ‫ܹ֮ࢗײ‬Λ༩͑Δ͜ͱ͕ՄೳͰ͋Δͱߟ͑Δɽ
ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷධՁ‫ݪ‬ཧΛ Fig. 5.1 ʹࣔ͢ɽఏҊ‫ܭ‬ଌγ
εςϜͷಈ࡞Ͱ͸ɼ࠱ҐͰߦ͏ͨΊόϥϯεҡ࣋ͷඞཁ͸গͳ͍ɽ͜ͷͨΊɼલఉ֮Λࢧ
഑తʹ͸ඞཁͱ͠ͳ͍ͱߟ͑Δɽ·ͨɼਫ਼ີ೺Ѳಈ࡞ʹ͓͍ͯม‫ྔܗ‬Λ‫ه‬Աɾ࠶‫͢ݱ‬Δ՝
୊ʹ͓͍ͯ͸ɼମੑ‫֮ײ‬தͷࢹ֮ʹ͍ͭͯ΋ࢧ഑తʹ͸ඞཁͱ͠ͳ͍ͱߟ͑Δɽ͜ͷͨΊɼ
ม‫ྔܗ‬Λ‫ه‬Աɾ࠶‫͢ݱ‬Δ՝୊ʹ͓͍ͯɼม‫ྔܗ‬ʵ൓ྗಛੑ͕๞࿨ಛੑΛ༗͢Δ೺ѲσόΠ
ε͸ɼઢ‫ܗ‬ಛੑΛ༗͢Δ೺ѲσόΠεΑΓ΋‫ݻ‬༗‫֮ײ‬ͷ‫ݻ‬༗‫֮ײ‬Λ࢖͏͜ͱʹͳΔɽ͜ͷ
ͨΊɼม‫ྔܗ‬ʵ൓ྗಛੑͷҧ͍ʹΑΔਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δม‫ྔܗ‬ͷ‫ه‬Աɾ࠶‫ݱ‬஋ͷҧ͍
͔Β‫ݻ‬༗‫֮ײ‬ͷධՁΛߦ͏͜ͱ͕ՄೳͱͳΔɽ
5.2.3
ϋʔυ΢ΣΞͷ࢓༷
ɹ೺Ѳಈ࡞ͷଌఆγεςϜͷߏ੒ͱ֎‫؍‬ɼͳΒͼʹදࣔը໘͸ɼલষͰࣔͨ͠ Fig. 4.2 ͱ
Fig. 4.3ɼͳΒͼʹ Fig. 4.4 ͱಉ༷Ͱ͋Δɽͨͩ͠ɼ৽͍͠ߏ଄ͷ೺ѲσόΠεͰ͸ɼ࿪Έ
ήʔδͷຕ਺Λ 4 ຕ͔Β 2 ຕʹมߋ͍ͯ͠Δɽ
ͳ͓ɼຊষͰ։ൃ͢Δ৽͍͠ߏ଄ͷ೺ѲσόΠεΛ iWakka ͱ͢Δɽ
ɹ
5.2. ೺Ѳྗͷ‫ܭ‬ଌγεςϜ
63
Hinge (Rotation center)
PVC pipe
l
Strain gauge
a
Leaf spring
φ = 16.13 deg
Load point
di
(a) Initial state
Hinge (Rotation center)
s
r
F
F
P
P
z
θ
dg
Load point
(b) Deformation state
Fig. 5.2 Definition of width of deformation
ୈ5ষ
64
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
PVC pipe
Fixing plate
Strain gauge
Leaf spring
Hinge
Screw
Fig. 5.3 Structure of measurement device ʠ iWakka ʡ
Leaf spring
Fixing
plate
PVC
pipe
Fixing plate
PVC
pipe
Leaf
spring
Screw
Washer
Screw
Washer
(a) Front view
(b) Side view
Fig. 5.4 Slide structure
5.2. ೺Ѳྗͷ‫ܭ‬ଌγεςϜ
5.2.4
65
iWakka Type L
ɹ iWakka ΛखࢦͰ೺Ѳ͢Δͱɼ൘͹Ͷ͕ม‫ͯ͠ܗ‬σόΠεͷ෯͕มԽ͢Δɽ͜ΕʹΑΓɼ
ॊೈ෺ͷ೺ѲΛ໛ٖͰ͖ΔɽఏҊ‫ܭ‬ଌγεςϜʹΑΓɼiWakka ͕೺Ѳ͞Εͨ࣌ͷిѹ஋͔
Βɼม‫ͦͱྔܗ‬ΕʹԠͨ͡൓ྗΛऔಘͰ͖Δɽ·ͨɼม‫ྔܗ‬ʵ൓ྗಛੑ͕มߋՄೳͰ͋Δ
͜ͱΛ֬ೝͰ͖ͨɽ͕ͨͬͯ͠ɼ೺Ѳಈ࡞͔Βखࢦͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷਪଌ͕Մೳͱͳ
Δͱߟ͑Δ [60]ɽ
͜͜Ͱɼ೺ѲσόΠε iWakka ͷม‫ ྔܗ‬d Λ Fig. 5.2 Ͱఆٛ͢Δɽd ͸ɼ೺Ѳྗ F ͷͳ͍
ม‫ܗ‬લͷ೺ѲσόΠεͷ෯ di ͱɼ೺Ѳྗ F ͕ಇ͍ͨม‫ޙܗ‬ͷ೺ѲσόΠεͷ෯ dg ͷ͔ࠩ
Βɼࣜ (5.1) ͷΑ͏ʹఆٛͨ͠ɽ
d = d i − dg
(5.1)
ͳ͓ɼ೺ѲྗΛ‫ܭ‬ଌ͢ΔͨΊʹ͸ɼ೺ѲҐஔΛࢦఆ͢Δඞཁ͕͋Δɽͦ͜ͰɼiWakka ʹ͸
খࢦΛআ͘ 4 ࢦʹΑΔ೺ѲҐஔΛࣔ͢খ͞ͳγʔϧΛషΓ෇͚ͨɽ
iWakka ͷߴ͞͸ 80mmɼ֎‫ܘ‬͸ 65mm Ͱ͋Γɼॏྔ͸ 120g Ͱ͋ΔɽiWakka ͷߏ଄Λ
Fig. 5.3 ʹࣔ͢ɽ൘͹ͶΛย࣋ͪྊͱͯ͠ར༻͢Δߏ଄Λઃ‫ͨ͠ܭ‬ɽԘϏύΠϓͷ൒ׂͷย
୺෦Λ௏൘Ͱ‫ݻ‬ఆ͠ɼ͞Βʹ൘͹Ͷ 4 ຕΛԘϏύΠϓʹରͯ͠ަ‫ʹޓ‬Ϋϩε͢ΔΑ͏ʹऔ
Γ෇͚͍ͯΔɽ࿪Έήʔδ͸ɼ্͔Β 2 ຕ໨ͷ൘͹Ͷͷ‫͛ۂ‬Λଌఆ͢ΔͨΊʹɼ൘͹Ͷͷ‫ݻ‬
ఆ୺ͷࠜ‫ʹݩ‬షΓ෇͚ͯ͋Δɽ͜ͷ൘͹Ͷͷදཪʹ࿪ήʔδΛ 1 ຕͣͭషΓ෇͚͠ɼ2 ΞΫ
ςΟϒήʔδ๏Λ༻͍ͯଌఆ͢Δ͜ͱͰɼԹ౓ิঈΛߦ͍ɼ‫͛ۂ‬ͷΈΛଌఆ͢ΔɽiWakka
Λ೺Ѳ͢ΔͱɼՃ͑ͨ೺ѲྗʹԠͯ͡൘͹Ͷ͕ͨΘΈɼԘϏύΠϓ͕։ด͢Δɽ൘͹Ͷ͕
ͨΘΉ͜ͱʹΑͬͯੜ͡Δ࿪Έ͔Βม‫ྔܗ‬Λࢉग़͠ɼ೺Ѳಈ࡞Λ࣌‫Ͱྻܥ‬ଌఆ͢Δɽ
Fig. 5.2(b) ʹࣔ͢Α͏ʹɼԘϏύΠϓʹ೺Ѳྗ F ΛՃ͑ΔͱɼԘϏύΠϓ͸ώϯδΛճ
సத৺ͱͯ͠ԘϏύΠϓಉ͕࢜ۙͮ͘ɽ͜ͷճసʹ൐͍ɼԘϏύΠϓ͕൘͹Ͷʹՙॏ P Λ
‫͢΅ٴ‬ɽ͜ͷͱ͖೺Ѳྗ F ͱՙॏ P ʹ͸ɼώϯδΛճసத৺ͱͨ͠ϞʔϝϯτͷͭΓ߹͍
ʹΑΓࣜ (5.2) ͕੒Γཱͭɽ
P =
s cos θ
r cos(φ − θ)
F
(5.2)
͜͜Ͱɼr ͸ώϯδͷճసத৺͔Βՙॏ఺·Ͱͷ௚ઢ‫཭ڑ‬ɼs ͸ώϯδͷճసத৺͔Β೺Ѳ
ྗͷ࡞༻ઢͱώϯδͷճసத৺͔Βՙॏ఺Λ݁Ϳ௚ઢͱͷަ఺·Ͱͷ‫཭ڑ‬ɼθ ͸ώϯδͷ
ճసத৺ͱՙॏ఺Λ݁Ϳ௚ઢͱώϯδͷճసத৺Λ௨Δத৺ઢͷͳ֯͢౓ɼφ ͸ॳ‫ظ‬ঢ়ଶ
ͷ൘όωͱத৺ઢͷͳ֯͢౓Ͱ͋Δɽ·ͨɼՙॏ P ͱ൘͹Ͷͷՙॏ఺ͰͷͨΘΈ z ͷؔ܎
ୈ5ষ
66
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
͸ࣜ (5.3) ͷΑ͏ʹఆٛ͞ΕΔɽ
⎛
3
⎞
a⎟
⎜
6 ⎝la2 − ⎠ (1 − ν 2 )
3
z=
Ebh3
P
(5.3)
͜͜Ͱɼl ͸ྊͷ௕͞ɼa ͸ྊͷࠜ‫͔ݩ‬Βՙॏ఺·Ͱͷ‫཭ڑ‬ɼP ͸ՙॏɼz ͸൘͹ͶͷͨΘ
ΈɼE ͸ॎ஄ੑ܎਺ɼb ͸ྊͷ෯ɼh ͸ྊͷް͞ɼν ͸ϙϫιϯൺͰ͋Δɽͳ͓ɼ൘͹Ͷͷ
ՙॏ఺ʹ͓͚ΔͨΘΈ z ͱɼม‫ ྔܗ‬d ͷؔ܎͸࣮ଌ஋ʹΑΓࣜ (5.4) ͕੒Γཱͭɽ
d=
z
1.667
(5.4)
Ҏ্ΑΓɼ೺Ѳྗ F ͱม‫ ྔܗ‬d ͸ࣜ (5.5) ͱͳΔɽ
1.667Ebh3 r cos θ(φ − θ)
⎛
⎞
F =
d
3
a⎟
⎜
6s cos ⎝la2 − ⎠ (1 − ν 2 )
3
(5.5)
͕ͨͬͯ͠ɼ൘͹ͶΛย࣋ͪྊͷߏ଄ʹ͢Δ͜ͱͰɼม‫ྔܗ‬ʵ൓ྗಛੑΛઢ‫͖Ͱʹܗ‬Δͱ
ߟ͑ΒΕΔɽ൘͹ͶΛย࣋ͪྊͷߏ଄ʹ͢ΔͨΊʹ͸ɼ൘͹ͶͷҰ୺Λࣗ༝୺ͱ͠ͳ͚Ε
͹ͳΒͳ͍ɽͦ͜ͰɼFig. 5.4 ʹࣔ͢Α͏ʹ։‫ޱ‬ଆͷ൘͹Ͷͷย୺͸‫ݻ‬ఆͤͣεϥΠυ͢
Δߏ଄ͱͨ͠ɽԘϏύΠϓͷ෵ͱ‫ݻ‬ఆ൘ͷؒʹ࠲ۚΛೖΕΔ͜ͱʹΑΓɼԘϏύΠϓͷ෵
ͱ‫ݻ‬ఆ൘ʹ͕ܺؒͰ͖Δɽ͜ΕʹΑΓɼ൘͹Ͷ͕εϥΠυͰ͖ɼࣗ༝୺ͱͳΔͨΊɼย࣋
ͪྊͷಛੑ͔Βม‫ྔܗ‬ʵ൓ྗಛੑ͸ઢ‫ͳͱܗ‬Δɽ͜͜Ͱͷ൓ྗͱ͸ɼiWakka Λ೺Ѳͨ͠ࡍ
ͷ೺Ѳྗʹର͢Δ൓࡞༻ͷྗΛࢦ͢ɽ೺Ѳྗͷ࡞༻఺͸ɼFig. 5.2(b) ʹࣔ͢Α͏ʹ iWakka
Λ্ํ͔Β‫࣌ͨݟ‬ɼத৺ઢʹฏߦͳ 2 ͭͷ௚ઢͰ೺Ѳ͢Δ৔߹ͷ઀఺ͱ͢Δɽ͜ͷ 2 ௚ઢ
ͷִؒ͸ɼࣜ (5.1) ʹࣔͨ͠ di ͱ dg Ͱ͋Γɼ೺Ѳྗ͸͜ͷ 2 ௚ઢʹର͢Δਨ௚੒෼ͷεΧ
ϥྔͰ͋Δɽ͜ͷߏ଄Λ࠾༻ͨ͠ iWakka Λ Type L ͱ‫Ϳݺ‬ɽ
্‫Ͱه‬ઃ‫ ͨ͠ܭ‬iWakka Type L ͸ɼ෯ͷҟͳΔ 3 छྨͷ൘͹ͶΛ૊Έ߹ΘͤΔ͜ͱͰɼ
Table 5.1 ʹࣔ͢ Type L1ʙL5 ͔ΒͳΔ 5 छྨͷ͹ͶಛੑΛઃ‫ͨ͠ܭ‬ɽͳ͓ɼ3 छྨͷ൘
͹Ͷͷ෯͸ɼb = 15.0mmʢҎԼɼ൘͹Ͷ L ͱ‫Ϳݺ‬ʣɼb = 11.3mmʢҎԼɼ൘͹Ͷ M ͱ‫ݺ‬
Ϳʣɼb = 7.5mmʢҎԼɼ൘͹Ͷ S ͱ‫Ϳݺ‬ʣͰ͋Δɽ͜͜Ͱ͸ɼ্Լࠨӈʹରশੑͷ͋Δ
൘͹Ͷͷ഑ஔɼͳΒͼʹ౳ִؒͰมԽ͢Δ͹Ͷఆ਺Λ࣮‫ͨ͠ݱ‬ɽ͜ͷ͏ͪɼಉ͡෯ͷ൘͹
Ͷ LɼMɼS ͦΕͧΕΛ 4 ຕͣͭ૊Έ߹Θͤͨ iWakka Type L1, L3, L5 ͷม‫ྔܗ‬ʵ൓ྗಛ
5.2. ೺Ѳྗͷ‫ܭ‬ଌγεςϜ
67
Table 5.1 Spring constant of Type Ls
Fig. 5.5 Theoretical characteristics of deformation and reaction force
ੑͷཧ࿦஋ͷ݁ՌΛ Fig. 5.5 ʹࣔ͢ɽͨͩ͠ɼd ʹର͢Δ a ͱ s ͷଌఆ͸ࠔ೉Ͱ͋ΔͨΊɼ
ม‫ܗ‬લͷ௕͞Ͱఆ਺ʢa = 54.75 mmɼs = 30.0 mmʣͱͨ͠ɽ
ୈ5ষ
68
5.2.5
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
iWakka Type S
ɹ Fig. 5.4 ʹࣔͨ͠εϥΠυߏ଄͸ɼ൘͹Ͷͷࣗ༝୺ଆͷ࠲ۚΛऔΓআ͘͜ͱʹΑΓɼ൘
͹Ͷͷ྆୺Λ‫ݻ‬ఆͨ͠ߏ଄ʢҎԼɼ‫ݻ‬ఆߏ଄ͱ‫Ϳݺ‬ʣʹͰ͖Δɽ͜ͷ‫ݻ‬ఆߏ଄ͷ೺Ѳσό
ΠεΛ೺Ѳͨ࣌͠ɼ൘͹Ͷʹ͸ѹॖՙॏɼ‫͛ۂ‬ՙॏ͕ಇͨ͘Ίɼ൘͹Ͷ͸ S ࣈঢ়ʹͨΘΉɽ
ͦͷͨΊɼ೺ѲσόΠεͷม‫ྔܗ‬ʵ൓ྗಛੑ͸ઢ‫ܗ‬ಛੑͱͳΒͳ͍ɽͨͩ͠ɼType L ͱಉ
౳ͷม‫ྔܗ‬ʵग़ྗిѹಛੑΛಘΔͨΊʹɼ࿪Έήʔδ͕షΒΕͨ൘͹Ͷ͸εϥΠυߏ଄ͷ
··ͱͨ͠ɽ͕ͨͬͯ͠ɼiWakka ʹऔΓ෇͚ΒΕͨ൘͹Ͷ 4 ຕͷ͏ͪɼ1 ຕ໨ͱ 3 ຕ໨Λ
‫ݻ‬ఆߏ଄ɼ2 ຕ໨ͱ 4 ຕ໨ΛεϥΠυߏ଄ͱ͢Δ͜ͱͰɼม‫ྔܗ‬ʵ൓ྗಛੑ͕๞࿨ಛੑΛ༗
͢ΔΑ͏ʹௐ੔ͨ͠ɽ͜ͷ iWakka Λ Type S ͱ‫Ϳݺ‬ɽ๞࿨ಛੑͷ࣮‫ʹݱ‬ΑΓɼiWakka ͷ
ม‫ྔܗ‬ͷมԽʹରͯ͠൓ྗͷมԽ͕খ͘͞ͳΔɽ͜ͷͨΊɼ೺Ѳ͢Δࡍͷ‫ݻ‬༗‫ʹ֮ײ‬ର͢
Δܹࢗͱൺ΂ͯɼൽෘ‫΁֮ײ‬ͷܹࢗΛখ͘͢͞Δ͜ͱ͕‫ظ‬଴Ͱ͖Δɽ
5.2. ೺Ѳྗͷ‫ܭ‬ଌγεςϜ
69
(a) Front view
(b) Upper view
(c) Back view
Fig. 5.6 Measurement device ʠ iWakka ʡ
ୈ5ষ
Reaction force [N]
70
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
6
Theoretical value(15mm)
(Type L1)
5
Measurment value(15mm)
(Type L1)
(Type L3)
Theoretical value(11.3mm)
(Type L3)
Measurment value(11.3mm)
4
(Type L5)
Theoretical value(7.5mm)
(Type L5)
Measurment value(7.5mm)
3
2
1
0
0
1
2
3
4 5 6 7 8 9
Deformation d [mm]
10 11 12
Fig. 5.7 Comparison of characteristics of deformation and reaction force between simulation and real object
1.8
Output voltage [V]
1.6
1.4
1.2
1
0.8
0.6
0.4
Type L
L1
0.2
Type S
0
0
1
2
3
4
5
6
7
Deformation d [mm]
8
9
10
Fig. 5.8 Characteristics of deformation and output voltage
Reaction force [N]
5.2. ೺Ѳྗͷ‫ܭ‬ଌγεςϜ
71
5
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Type L1
L
Type S
0
1
2
3
4 5 6
7
Deformation d [mm]
8
9
10
Fig. 5.9 Comparison of characteristics of deformation and reaction force between Type L
and Type S
(a) Type L1
(b) Type S
Fig. 5.10 Deformation of leaf spring
ୈ5ষ
72
5.2.6
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
ੑೳධՁͷ݁Ռɾߟ࡯
ɹ։ൃͨ͠ iWakka ͷ֎‫؍‬Λ Fig. 5.7 ʹࣔ͢ɽ͜ͷ iWakka ͷ࿪ΈήʔδΑΓग़ྗ͞Εͨి
ѹ஋͔Βɼ೺Ѳྗ΁ͷ‫͍ͯͭʹࢉ׵‬ड़΂Δɽ‫ʹࢉ׵‬ඞཁͱͳΔಛੑΛಘΔͨΊʹɼಛੑධ
Ձ૷ஔΛ༻͍ͨɽಛੑධՁ૷ஔ͸ɼྗ‫ܭ‬ଌ༻ϩʔυηϧɼҐஔ‫ݕ‬ग़༻Τϯίʔμ͓Αͼʹ
ϚΠίϯ͔Βߏ੒͞ΕΔɽಛੑධՁ૷ஔͷ։‫ޱ‬෦ʹ೺ѲσόΠεΛऔΓ෇͚ͯɼಛੑධՁ
૷ஔͷϋϯυϧΛճͯ͠ແஈ֊ʹ։ดͤ͞ΔɽiWakka ͷม‫ྔܗ‬͸Τϯίʔμ͔ΒऔಘͰ
͖ɼiWakka ͷ൓ྗ͸ϩʔυηϧ͔ΒऔಘͰ͖Δɽ͜ͷͱ͖ͷ‫ܭ‬ଌͷαϯϓϦϯάप೾਺͸
30Hz Ͱ͋Δɽ͕ͨͬͯ͠ɼiWakka ͷม‫ʹྔܗ‬൐͏ग़ྗిѹɼͳΒͼʹม‫ͱྔܗ‬൓ྗ͸ಉ
‫ͯ͠ظ‬࿈ଓతʹऔಘͰ͖Δɽ͜͜Ͱ͸ɼม‫ ྔܗ‬d ͱ࿪ΈήʔδʹΑͬͯੜ͡Δग़ྗిѹ V
ͷؔ܎Λม‫ྔܗ‬ʵग़ྗిѹಛੑɼม‫ ྔܗ‬d ͱ೺Ѳྗ F ͷؔ܎Λม‫ྔܗ‬ʵ൓ྗಛੑͱఆٛ͢
ΔɽiWakka Type L1, L3, L5 ΛϞσϧԽ͠ɼ‫͔ࣜࢉܭ‬Β‫ٻ‬Ίͨม‫ྔܗ‬ʵ൓ྗಛੑͷཧ࿦ಛ
ੑͱɼ࣮ࡍʹ੡࡞ͨ͠ iWakka Type L1, L3, L5 ʹͯ‫ܭ‬ଌͨ͠ม‫ྔܗ‬ʵ൓ྗಛੑͷൺֱΛ
Fig. 5.7 ʹࣔ͢ɽͦͷ݁Ռɼม‫ ͕ྔܗ‬8mm ·Ͱͷൣғʹ͓͍ͯม‫ྔܗ‬ʵ൓ྗಛੑ͕ߴ͍ઢ
‫ܗ‬ੑΛ༗͢Δ͜ͱΛ֬ೝͰ͖ͨɽͨͩ͠ɼ։‫ޱ‬෦ͷେ͖͔͞Βม‫ྔܗ‬ͷൣғ͸ 10mm ·Ͱ
ͱͳΔɽ࣍ʹɼType S ͱ Type L1 ͷม‫ྔܗ‬ʵग़ྗిѹಛੑɼͳΒͼʹม‫ྔܗ‬ʵ൓ྗಛੑΛ
ಛੑධՁ૷ஔʹͯൺֱͨ݁͠ՌΛͦΕͧΕ Fig. 5.8ɼ5.9 ʹࣔ͢ɽType S Ͱ༻͍ͨ൘͹Ͷ
͸ɼม‫ ྔܗ‬6mm ͷͱ͖ͷ൓ྗΛ Type L1 ͱଗ͑ΔͨΊʹɼશͯ S αΠζΛ༻͍ͨɽͦͷ
݁ՌɼType L1 ͱ Type S Ͱ͸ม‫ྔܗ‬ʵग़ྗిѹಛੑ͸ಉ͡Ͱ͋Δͷʹର͠ɼม‫ྔܗ‬ʵ൓ྗ
ಛੑ͕ҟͳΔ݁Ռ͕ಘΒΕͨɽType S ͷม‫ྔܗ‬ʵ൓ྗಛੑ͸ɼม‫ ͕ྔܗ‬4ʙ7mm ͷൣғʹ
͓͍ͯม‫ʹྔܗ‬ର͢Δ൓ྗ͸΄ͱΜͲมԽ͓ͯ͠Βͣ๞࿨ಛੑΛ༗͢Δɽ͜ΕΒͷ Type S
ͱ Type L1 Λ࣮ࡍʹ೺Ѳͯ͠ม‫ࢠ༷ͨͤ͞ܗ‬Λ Fig. 5.10 ʹࣔ͢ɽઃ‫࣌ܭ‬ͷ༧૝௨Γɼ൘͹
Ͷ͕ S ࣈঢ়ʹͨΘΜͰ͍Δ͜ͱ͕෼͔Δɽ
Ҏ্ͷ݁ՌΑΓɼม‫ྔܗ‬ʵ൓ྗಛੑΛมߋՄೳͳ೺Ѳಈ࡞ͷ೺ѲσόΠε iWakka ͕໨
త௨Γ։ൃͰ͖ͨ͜ͱΛ֬ೝͨ͠ɽ·ͨɼ֎‫؍‬͸ಉ͡Ͱ΋ɼҟͳΔ 2 ͭͷม‫ྔܗ‬ʵ൓ྗಛ
ੑΛ࣋ͭ iWakka Λ೺Ѳͤ͞Δ͜ͱʹΑͬͯɼൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ͷͦΕͧΕʹରͯ͠ҟ
ͳΔ‫ܹ֮ࢗײ‬Λ༩͑Δ͜ͱ͕Ͱ͖Δͱߟ͑Δɽ
5.3. ೺Ѳಈ࡞ʹΑΔ iWakka ͷ‫ݧ࣮ূݕ‬
5.3
5.3.1
73
೺Ѳಈ࡞ʹΑΔ iWakka ͷ‫ݧ࣮ূݕ‬
໨త
ɹ iWakka ͷ Type L1 ͱ Type S ͕೺Ѳಈ࡞ʹରͯ͠ҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔ͜ͱΛ֬
ೝ͢ΔͨΊʹɼए೥݈ৗऀʹΑΔ‫ݧ࣮ূݕ‬Λߦ͏ɽͳ͓ɼRossetti ΒʹΑΔͱɼ୺࠱Ґ࢟੎Ͱ
ߦ͏্ࢶͷ‫ڠ‬ௐಈ࡞ͷ࣮‫ʹݱ‬͸ɼಛʹࢹ֮ͱൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ͷ৘ใΛར༻͢Δ [31] [32]
ͱใࠂ͍ͯ͠Δ͜ͱ͔Βɼຊ՝୊ʹ͓͍ͯ΋ಉ༷ʹ୺࠱Ґ࢟੎Ͱ࣮ࢪ͢Δɽ
Fig. 5.9 ΑΓɼiWakka ͷ Type L1 ͱ Type S ͸ɼͱ΋ʹม‫ ྔܗ‬6mm ͷ࣌ʹఏࣔ͢Δ൓
ྗ͸ 2.88N Ͱ͋Δ͕ɼType S ͸๞࿨ಛੑΛ༗͢ΔͨΊม‫ ྔܗ‬5ʙ7mm ͷ࣌΋΄΅ಉ͡൓ྗ
ͱͳΔɽ͜ͷઆ໌Λ෼͔Γ΍͘͢͢ΔͨΊʹɼFig. 5.9 ʹิॿઢΛՃ͑ͯ Fig. 5.11 ͷΑ͏
ʹͨ͠ɽͳ͓ɼม‫ ྔܗ‬5ʙ7mm ʹ͓͚Δ͹Ͷఆ਺͸ɼType L1 Ͱ 0.49N/m Ͱ͋ΓɼType
S Ͱ 0.015N/m Ͱ͋Δɽ͜ͷͨΊɼඃ‫ ͕ऀݧ‬iWakka Λ೺Ѳͯ͠ม‫ ྔܗ‬6mm ͷ‫ه‬Ա‫࠶ʹޙ‬
‫ݱ‬Λ͢Δ՝୊Λߦ͏ࡍɼType L1 Ͱ͸ൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ͷ྆ํͷ৘ใΛར༻͢Δͷʹର
ͯ͠ɼType S Ͱ͸‫ݻ‬༗‫֮ײ‬ͷΈͷ৘ใ͔͠ར༻Ͱ͖ͳ͍ɽ͕ͨͬͯ͠ɼ೺Ѳಈ࡞ʹ‫ݻ‬༗‫ײ‬
֮ͷ৘ใΛར༻͍ͯ͠ΔͱԾఆͨ࣌͠ɼType S ͸೺Ѳঢ়ଶͷ‫ه‬Աͱ࠶‫ࠔ͕ݱ‬೉ʹͳΔ͜ͱ
͕༧૝͞ΕΔɽ
Ҏ্ΑΓɼ։ൃͨ͠೺ѲσόΠεͷม‫ྔܗ‬ʵ൓ྗಛੑͷҧ͍͕ਓؒʹରͯ͠ҟͳΔ‫֮ײ‬
ܹࢗΛ༩͑ΒΕΔ͜ͱΛ‫͢ূݕ‬ΔͨΊʹɼType S ͸ Type L1 ʹൺ΂ͯ࠶‫࣌ݱ‬ͷ͹Β͖͕ͭ
େ͖͘ͳΔ͜ͱΛ֬ೝ͢Δɽ
5.3.2
‫ݧ࣮ূݕ‬ͷํ๏
ɹର৅ͱͨ͠ඃ‫ऀݧ‬͸ 20 ୅ͷ݈ৗஉঁ 12 ໊ʢࠨར͖ 1 ໊ɼӈར͖ 11 ໊ʣͰ͋Γɼຊ‫ڀݚ‬ͷ
झࢫΛઆ໌͠ಉҙΛಘΒΕͨऀͷΈΛର৅ͱͨ͠ɽར͖खͷ൑அ͸ɼEdinburgh Handedness
Inventory [65] Λ༻͍ͨɽ
࣮‫ݧ‬தͷ༷ࢠΛ Fig. 5.12 ʹࣔ͢ɽඃ‫ऀݧ‬͸ɼ·ͣɼยखͰ iWakka Λ೺Ѳͯ͠ 6mm ௵͠
ͨঢ়ଶΛ 10 ඵؒอ࣋͢Δɽඃ‫ऀݧ‬͸͜ͷ࣌ɼख‫ͱݩ‬ม‫ ྔܗ‬6mm ʹରԠͨ͠ిѹ஋ 1.0V Λ
໨ࢹͰ֬ೝ͢Δ͜ͱ͕Ͱ͖ΔʢҎԼɼ‫ه‬ԱϞʔυͱ‫Ϳݺ‬ʣɽ࣍ʹɼiWakka Λ‫ص‬ͷ্ʹ໭͠
ͨ‫ޙ‬ɼ໨ͷલʹཱ͍͕ͭͯஔ͔Εͯࢹ֮৘ใΛ࢖͑ͳ͍ঢ়‫Ͱگ‬ɼiWakka Λ࠶౓೺Ѳͯ͠ɼ
10 ඵҎ಺ʹม‫ ྔܗ‬6mm Λ࠶‫ݱ‬ɾอ࣋͢ΔʢҎԼɼ࠶‫ݱ‬Ϟʔυͱ‫Ϳݺ‬ʣɽ͜ΕΒͷ‫ه‬ԱϞʔ
υͱ࠶‫ݱ‬Ϟʔυͷؒʹɼ2 ඵؒͷ‫ܜٳ‬Λ‫ڬ‬Μͩ΋ͷΛ 1 ηοτͱͯ͠ɼ‫ ܭ‬5 ηοτ‫܁‬Γฦ
͢՝୊Λඃ‫ʹऀݧ‬༩͑ͨɽͳ͓ɼ‫ه‬ԱϞʔυͱ࠶‫ݱ‬Ϟʔυͷ։࢝ͱऴྃͷ߹ਤ͸ɼଌఆऀ
ୈ5ষ
74
Fig. 5.11
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
Comparison of characteristics of deformation (4 - 7 mm) and reaction force
between Type L and Type S
͕ࢦࣔΛ༩͑ͨɽ·ͨɼࢦෲͷ೺ѲҐஔΛࢦఆ͢ΔͨΊͷγʔϧʹ৮ΕΔΑ͏ʹ஫ҙΛ༩
͑ͨɽ
೺Ѳ͢Δखͱ iWakka ͷछྨ͸ɼ(1) ར͖खɾType L1ɼ(2) ར͖खɾType Sɼ(3) ඇར͖
खɾType L1ɼ(4) ඇར͖खɾType S ͷ 4 ͭͷ৚݅ʹ෼͚ΒΕΔɽॱংޮՌΛഉআ͢ΔͨΊ
ʹɼඃ‫ ऀݧ‬12 ໊Λ 4 άϧʔϓʹ‫ۉ‬౳ʹ෼͚ͯɼ4 ͭͷ৚݅Λશ࣮ͯࢪͨ͠ɽ
ධՁͱ݁Ռͷߟ࡯͸ɼม‫ྔܗ‬ͷ‫ه‬Ա͕े෼ʹͰ͖ͨͱߟ͑ΒΕΔ 5 ηοτ໨ʹରͯ͠ߦ
͏ɽ4 ͭͷ৚݅ͦΕͧΕʹରͯ͠ɼ5 ηοτ໨ʹ͓͚Δ໨ඪม‫ ྔܗ‬6 mm ͔Βͷ࠶‫ݱ‬஋ͷ‫ޡ‬
ࠩͷઈର஋ΛऔΓɼඃ‫ ऀݧ‬12 ໊ͷฏ‫ۉ‬஋ͱඪ४ภࠩΛ‫ٻ‬ΊΔɽ͜ΕΛ࠶‫ࠩޡݱ‬஋ͱఆٛ͢
Δɽ౷‫ܭ‬ख๏͸ɼF ‫ݕ‬ఆʹΑΓ౳෼ࢄͰ͋Δ͜ͱΛ֬ೝͨ͠‫ޙ‬ɼରԠͳ͠ͷ t ‫ݕ‬ఆΛ༻͍
ͯൺֱͨ͠ɽͦͷ࣌ͷ༗ҙਫ४͸ 5% ҎԼͱͨ͠ɽ
5.3.3
‫ݧ࣮ূݕ‬ͷ݁Ռͱߟ࡯
ɹ 5 ηοτ໨ͷ (1)ʙ(4) ͷ৚݅ʹ͓͚Δɼ࠶‫ࠩޡݱ‬஋ͷඃ‫ ऀݧ‬12 ໊ͷฏ‫ۉ‬஋ͱඪ४ภࠩΛ
Fig. 5.13 ʹࣔ͢ɽॎ࣠͸࠶‫ࠩޡݱ‬஋Λ͓ࣔͯ͠Γɼ஋͕େ͖͍΄Ͳม‫ྔܗ‬Λਖ਼͘͠࠶‫Ͱݱ‬
͖͍ͯͳ͍͜ͱΛࣔ͢ɽ
5.3. ೺Ѳಈ࡞ʹΑΔ iWakka ͷ‫ݧ࣮ূݕ‬
75
(a) Visual info.
(b) Non visual info.
Fig. 5.12 Scene of experiment
Type S ͸ɼType L1 ͱൺ΂ͯ࠶‫ࠩޡݱ‬஋͕େ͖͍݁Ռ͕ಘΒΕͨɽಛʹɼར͖खͰ͸༗
ҙ͕ࠩೝΊΒΕͨɽ͜ͷ͜ͱ͔ΒɼiWakka ͷ Type S ͸ɼType L1 ΑΓ΋ม‫ྔܗ‬ͷ‫ه‬Աͱ
࠶‫ࠔ͕ݱ‬೉ʹͳΔ͜ͱΛ֬ೝͰ͖ͨɽ͕ͨͬͯ͠ɼType L1 ͱ Type S ͸ɼ೺Ѳಈ࡞ʹର͠
ͯҟͳΔ‫ܹ֮ࢗײ‬Λ༩͑ΒΕΔ͜ͱΛ֬ೝͰ͖ͨɽ
·ͨɼඇར͖खʹ͓͚Δ iWakka ͷ Type L1 ͱ Type S ͷ࠶‫ࠩޡݱ‬஋Ͱ༗ҙ͕ࠩೝΊΒΕ
ͳ͔ͬͨཧ༝ʹ͍ͭͯߟ࡯͢Δɽຊ࣮‫ݧ‬ͷ݁Ռ͔Βඇར͖ख͸ར͖खͱൺֱͯ͠ɼType L1
ͷ࠶‫ࠩޡݱ‬஋͕େ͖͘ɼType S ͷ࠶‫ࠩޡݱ‬஋͕খ͔ͬͨ͞ɽਓ͕ؒ iWakka Λ೺Ѳ͢Δ࣌ɼ
Type L1 Ͱ͸ൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ͷ྆ํΛར༻ͯ͠ม‫ྔܗ‬ͷ‫ه‬Աɾ࠶‫͖Ͱ͕ݱ‬Δ͕ɼType
S Ͱ͸‫ݻ‬༗‫֮ײ‬ͷΈͷ৘ใ͔Βม‫ྔܗ‬Λ‫ه‬Աɾ࠶‫͚ͳ͠ݱ‬Ε͹ͳΒͳ͍ɽҰํɼར͖ख͸
‫ػ‬ೳखɼඇར͖ख͸‫ݻ‬ఆखͱ‫ݺ‬͹Ε͓ͯΓɼར͖खͱඇར͖खͰ͸ಘҙͱ͢Δೳྗ͕ҟͳ
ୈ5ষ
76
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
7
Average Error [mm]
6
N.S.
P < 0.05
5
4
3
2
1
0
Type L1
Type S
Dominant
Type L1
Type S
Non dominant
Fig. 5.13 Mean and standard deviation of reproduction of error value (N = 12)
Δ͜ͱ͕ใࠂ͞Ε͍ͯΔɽҎ্ͷใࠂͱຊ࣮‫ݧ‬ͷ݁Ռ͔Βɼར͖ख͸ൽෘ‫ʹ֮ײ‬༏Ε͓ͯ
Γɼඇར͖ख͸‫ݻ‬༗‫ʹ֮ײ‬༏Ε͍ͯΔͱߟ͑Δ͜ͱ͕Ͱ͖Δɽ
Ҏ্ΑΓɼม‫ྔܗ‬ʵ൓ྗಛੑͷҟͳΔ iWakka Λ༻͍ͯɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷ֤‫ػ‬ೳΛ
ఆྔతධՁʹར༻Ͱ͖ΔՄೳੑ͕ࣔࠦ͞Εͨɽ
5.4. ͓ΘΓʹ
5.4
77
͓ΘΓʹ
ɹຊষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊʹɼ஄ੑମͰ͋Δ೺ѲσόΠ
εͷม‫ྔܗ‬ʵ൓ྗಛੑͷมߋՄೳͱͨ͠೺ѲσόΠεΛ։ൃͨ͠ɽ·ͨɼม‫ྔܗ‬ʵ൓ྗಛ
ੑʹ͍ͭͯɼઢ‫ܗ‬ಛੑͱ๞࿨ಛੑͷ 2 छྨͷ೺ѲσόΠεΛ༻͍ͨྟচࢼ‫͔ݧ‬Βɼ։ൃ͠
ͨ೺ѲσόΠεͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽຊষͷ੒ՌΛҎԼʹ·ͱΊΔɽ
1. ୈ 4 ষͰ։ൃͨ͠ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ೺Ѳྗͷ‫ܭ‬ଌγεςϜʹ͍ͭͯɼ೺Ѳσό
Πε಺෦ͷ൘͹ͶΛεϥΠυߏ଄ͱ͢Δ͜ͱͰม‫ྔܗ‬ʵ൓ྗಛੑ͕ઢ‫ܗ‬ಛੑͱͳΔ
iWakka Type L Λ։ൃͨ͠ɽiWakka Type L ͸ɼ಺෦ͷ൘͹ͶΛަ‫͢׵‬Δ͜ͱʹΑ
Γ೺ѲσόΠεͷߗ͕͞มߋͰ͋Δɽ͜ΕʹΑΓɼϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔Ͱ
ͷ࣮ར༻͕Մೳͱͳͬͨɽ
2. ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫ͱ֮ײ‬ൽෘ‫֮ײ‬Λ‫ݸ‬ผʹఆྔతධՁ͢ΔͨΊʹɼ೺Ѳσό
Πε಺෦ͷ൘͹Ͷʹ͍ͭͯɼ‫ݻ‬ఆߏ଄ͱ͢Δ͜ͱͰม‫ྔܗ‬ʵ൓ྗಛੑ͕๞࿨ಛੑͱͳ
Δ iWakka Type S Λ։ൃͨ͠ɽiWakka Type S ͸ɼiWakka Type L ͱൺ΂ͯม‫ྔܗ‬
ͷมԽʹର͢Δ൓ྗͷมԽྔ͕খ͍͞ɽ͜ΕʹΑΓɼiWakka Type S ͸‫ݻ‬༗‫ʹ֮ײ‬ର
͢Δܹࢗͱൺ΂ͯɼൽෘ‫΁֮ײ‬ͷܹࢗΛখ͘͢͞Δ͜ͱ͕‫ظ‬଴Ͱ͖Δɽ
3. ։ൃͨ͠ iWakka ͷ Type L ͱ Type S Λए೥݈ৗऀʹద༻ͯ͠ɼ೺ѲσόΠεͷม‫ܗ‬
ྔΛࢹ֮৘ใ͋Γͷঢ়ଶͰ‫ه‬Աͨ͠‫ޙ‬ɼࢹ֮৘ใͳ͠ͷঢ়ଶͰ࠶‫͢ݱ‬Δ՝୊Λ༩͑Δ
࣮‫ݧ‬Λ࣮ࢪͨ͠ɽ໨ඪม‫͔ྔܗ‬Βͷ࠶‫ࠩޡݱ‬஋ʹ͍ͭͯɼType S ͸ Type L ͱൺ΂
ͯ༗ҙʹେ͖͍͜ͱΛ֬ೝͨ͠ɽ·ͨɼType S ͱ Type L ͕༩͑Δ‫ܹ֮ࢗײ‬ͷҧ͍
ʹ͍ͭͯɼར͖खͰ͸࠶‫ࠩޡݱ‬஋ʹҧ͍͕‫ݱ‬Ε͕ͨɼඇར͖खͰ͸ҧ͍͕‫ݱ‬Εͳ͔ͬ
ͨɽ͜ΕΒͷ݁Ռ͔Βɼඇར͖ख͸‫ݻ‬༗‫֮ײ‬ͷΈͰ೺Ѳঢ়ଶͷ‫ه‬Աͱ࠶‫͕ݱ‬ՄೳͰ͋
Δ͜ͱ͕ࣔࠦ͞Εͨɽ͕ͨͬͯ͠ɼType L ͱ Type S Λ༻͍Δ͜ͱʹΑΓɼਓؒͷ೺
Ѳಈ࡞ʹରͯ͠ҟͳΔ‫͕ܹ֮ࢗײ‬༩͑ΒΕΔ͜ͱΛ֬ೝͰ͖ͨɽ
ຊষͰࣔͨ͠੒Ռʹର͢Δྟচ‫ݱ‬৔ͷ੠Λ·ͱΊΔɽ‫ڞ‬ಉ‫ऀڀݚ‬ͷ࡞‫ྍۀ‬๏͔࢜Β͸ɼ
೺ѲσόΠεͷߗ͞ͷมߋ͕༰қʹͳͬͨ఺Ͱ޷ධͰ͋ͬͨɽ·ͨɼར͖खͱඇར͖खʹ
͓͚Δൽෘ‫ݻͱ֮ײ‬༗‫֮ײ‬ͷҧ͍Λɼਫ਼ີ೺Ѳಈ࡞͔Β໌Β͔ʹͰ͖ΔՄೳੑ͕ࣔࠦ͞Ε
ͨ఺ʹ͍ͭͯ΋ߴ͍‫ڵ‬ຯΛ࣋ͨΕͨɽ͕ͨͬͯ͠ɼ։ൃͨ͠‫ܭ‬ଌγεςϜͱఏҊධՁ๏͸ɼ
ྟচ‫ݱ‬৔ʹಋೖՄೳͰ͋Δͱ൑அͰ͖Δɽ
78
ୈ5ষ
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ
ࠓ‫ޙ‬ͷ՝୊ʹ͍ͭͯɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏Λཱ֬͢Δඞཁ͕
͋Δɽ·ͨɼྟচ‫ݱ‬৔ʹಋೖͯ͠༗ޮੑͷ‫ূݕ‬Λߦ͏ඞཁ͕͋Δɽ
79
ୈ6 ষ
݁࿦
6.1
6.1.1
ຊ‫ڀݚ‬ͷ·ͱΊ
ୈ 2 ষɼୈ 3 ষͷ·ͱΊ
ɹୈ 2 ষͱୈ 3 ষͰ͸ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜɼͳΒͼʹ‫ݻ‬༗‫ײ‬
֮ͷఆྔతධՁγεςϜΛ։ൃͨ͠ɽୈ 2 ͱୈ 3 ষͷ੒ՌΛҎԼʹ·ͱΊΔɽ
1. ϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ͷχʔζ͔Βɼ࠱ҐͰ΋ར༻ՄೳͳԼࢶಈ࡞ͷ‫ܭ‬ଌγ
εςϜΛ։ൃͨ͠ɽ͜ΕʹΑΓɼ଍ʹ૷ணͨ͠ಈ͖ͷஞ࣍‫ܭ‬ଌͱɼࢹ֮΁ͷӡಈ৘ใ
ͷόΠΦϑΟʔυόοΫͱ఍߅‫ײ‬ͷఏࣔΛ࣮‫ͨ͠ݱ‬ɽ
2. ՝୊ͷ଎͞ΛධՁࢦඪͱͨ͠ɼԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃͨ͠ɽ
3. ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨԼࢶಈ࡞ʹ͓͚Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷ
ఆྔతධՁ๏Λ։ൃͨ͠ɽ
4. ྟচࢼ‫ݧ‬ΑΓɼ։ൃͨ͠ఆྔతධՁγεςϜͷ༗ޮੑΛ‫ͨ͠ূݕ‬ɽ
6.1.2
ୈ 4 ষɼୈ 5 ষͷ·ͱΊ
ɹୈ 4 ষͱୈ 5 ষͰ͸ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜɼͳΒͼʹ‫ݻ‬
༗‫֮ײ‬ΛఆྔతධՁ͢ΔͨΊͷ೺ѲσόΠεΛ։ൃͨ͠ɽୈ 4 ͱୈ 5 ষͷ੒ՌΛҎԼʹ·
ͱΊΔɽ
1. ϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ͷχʔζ͔Βɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ೺Ѳྗͷ‫ܭ‬ଌγ
εςϜΛ։ൃͨ͠ɽ͜ΕʹΑΓɼ೺ѲσόΠεʹՃ͑ΒΕͨ೺Ѳྗͷஞ࣍‫ܭ‬ଌͱɼࢹ
֮΁ͷม‫ͱྔܗ‬೺ѲྗͷఏࣔΛ࣮‫ͨ͠ݱ‬ɽ·ͨɼ೺ѲσόΠεͷ্࣋ͪ͛ྔʹԠͯ͡
ॏྔ͕࣌ؒมԽ͢ΔॏྔՄม૷ஔΛ։ൃͨ͠ɽ
2. ఏҊ‫ܭ‬ଌγεςϜΛ༻͍ͨਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ๏Λ։ൃͨ͠ɽ
ୈ6ষ
80
݁࿦
3. ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ΛఆྔతධՁ๏͢ΔͨΊͷ೺ѲσόΠεΛ։ൃͨ͠ɽ
4. ྟচࢼ‫ݧ‬ΑΓɼ։ൃͨ͠ఆྔతධՁγεςϜɼͳΒͼʹ೺ѲσόΠεͷ༗ޮੑΛ‫ূݕ‬
ͨ͠ɽ
6.1.3
ຊ‫Ͱڀݚ‬ಘΒΕͨ੒Ռ
ɹຊ‫Ͱڀݚ‬͸ɼϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔χʔζʹ‫͍ͯͮج‬ɼԼࢶಈ࡞ʹ͓͚Δ޼៛
ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜΛ։ൃ͠ɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁ
γεςϜɼͳΒͼʹ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁͷͨΊͷ೺ѲσόΠεΛ։ൃͨ͠ɽ
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜʹؔ͢Δ‫Ͱڀݚ‬͸ɼࢹ֮΁ͷ
ӡಈ৘ใͷόΠΦϑΟʔυόοΫΛ࣮‫͠ݱ‬ɼཱҐอ͕࣋ࠔ೉ͳ‫Ͱऀױ‬΋ར༻ՄೳͳԼࢶಈ
࡞ͷ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽ·ͨɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜ
ͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁͷͨΊͷ೺ѲσόΠεʹؔ͢Δ‫Ͱڀݚ‬͸ɼ೺࣋ର৅෺ͷߗ͞ͱॏ
ྔΛมߋͰ͖Δߏ଄Λ࣮‫ͨ͠ݱ‬೺Ѳྗ‫ܭ‬ଌγεςϜΛ։ൃͨ͠ɽԼࢶಈ࡞͸ෳ߹ؔઅӡಈ
Ͱ͋Γɼਫ਼ີ೺Ѳಈ࡞͸୯ؔઅӡಈʹஔ͖‫͑׵‬Δ͜ͱ͕ՄೳͰ͋Δɽ͜ͷͨΊɼԼࢶಈ࡞
ͷఆྔతධՁγεςϜ͸ɼԼࢶಈ࡞ʹ‫ݶ‬Βͣଞͷ਎ମ෦Ґͷෳ߹ؔઅӡಈʹద༻ՄೳͰ͋
Γɼ೺Ѳྗ‫ܭ‬ଌධՁγεςϜ͸ɼਫ਼ີ೺Ѳಈ࡞୯ؔઅӡಈʹద༻Մೳͱ͍͏ಛ௃Λ༗͢Δɽ
޼៛ੑͷධՁ͸ɼಈ࡞ʹ͓͚Δਖ਼֬͞ͱ଎͞ΛධՁࢦඪͱ͢Δඞཁ͕͋Δɽ͔͠͠ɼ2 ͭ
ͷධՁࢦඪʹର͢ΔॏΈ͚ͮ͸ࠔ೉Ͱ͋Γɼྟচ‫ݱ‬৔Ͱͷར༻Λߟ͑ͨ࣌ɼඞͣ͠΋਌੾
ͱ͸‫͍ͳ͑ݴ‬ɽͦ͜ͰɼධՁࢦඪ͕ 1 ͭͱͳΔΑ͏ʹ՝୊Λઃఆͨ͠ɽ۩ମతʹ͸ɼୈ 2
ষͱୈ 3 ষʹ͓͍ͯɼඃ‫ʹऀݧ‬ରͯ͠ਖ਼֬͞Λॏࢹ͢Δ՝୊Λ༩͑Δ͜ͱʹΑΓɼಈ࡞ͷ
଎͞Λࣔ͢՝୊ͷୡ੒͔࣌ؒΒԼࢶಈ࡞ʹ͓͚Δ޼៛ੑɼͳΒͼʹ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳΛධ
Ձͨ͠ɽ·ͨɼୈ 4 ষͰ͸ɼಈ࡞ͷ଎͞Λଗ͑Δ՝୊Λ༩͑Δ͜ͱʹΑΓɼ೺Ѳྗௐ੔ͷ
ਖ਼֬͞Λࣔ͢೺Ѳྗௐ੔ೳྗ͔Βਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑΛධՁͨ͠ɽ
Ұํɼ‫ݻ‬༗‫֮ײ‬ͷධՁ͸ɼਓ͕ؒಈ࡞ͷ࣮‫ʹݱ‬ඞཁͱ͢Δ‫ػ֮ײ‬ೳͷ͏ͪɼ‫ݻ‬༗‫͕֮ײ‬
ࢧ഑తͱͳΔΑ͏ʹ‫ݶ‬ఆͨ͠՝୊ʹ͓͚Δಈ࡞ͷਖ਼֬͞ͱɼ‫ݶ‬ఆ͠ͳ͍՝୊ʹ͓͚Δಈ࡞
ͷਖ਼֬͞Λൺֱ͢Δඞཁ͕͋Δɽ͜ͷͨΊʹɼಈ࡞தͷਓؒʹରͯ͠ҟͳΔ‫ܹ֮ࢗײ‬Λ༩
͑Δඞཁ͕͋Γɼಈ࡞ʹ͓͚Δલఉ֮΍ൽෘ‫֮ײ‬ͷӨ‫ڹ‬Λখͨ͘͞͠ํ͕‫ݻ‬༗‫֮ײ‬ͷධՁ
ʹ͸ద͍ͯ͠Δɽ۩ମతʹ͸ɼ3 ষͰ͸ɼඃ‫ʹऀݧ‬ରͯ͠࠱ҐͰ଍ఈΛ஍໘ʹৗʹ઀஍͞
ͤΔԼࢶಈ࡞ΛߦΘͤΔ͜ͱʹΑΓɼಈ࡞தʹ࢖͏‫ݻͱ֮ࢹ͍͓ͯʹ֮ײ‬༗‫ࢧ͕֮ײ‬഑త
ͱͳΔΑ͏ʹͨ͠ɽ͜ΕʹΑΓɼಈ࡞தͷࢹ֮৘ใͷ༗ແ͔Β‫ݻ‬༗‫֮ײ‬ΛධՁͨ͠ɽ·ͨɼ
6.2. ࠓ‫ޙ‬ͷ՝୊ͱকདྷͷల๬
81
5 ষͰ͸ɼඃ‫ʹऀݧ‬ରͯ͠࠱ҐͰਫ਼ີ೺Ѳಈ࡞ΛߦΘͤΔ͜ͱʹΑΓɼಈ࡞தʹ࢖͏‫֮ײ‬
ʹ͓͍ͯൽෘ‫ݻͱ֮ײ‬༗‫ࢧ͕֮ײ‬഑తͱͳΔΑ͏ʹͨ͠ɽ͞Βʹɼൽෘ‫֮ײ‬৘ใͷ༗ແ͔
Β‫ݻ‬༗‫֮ײ‬ΛධՁ͢ΔͨΊͷ‫ͯ͠ͱݧ࣮ૅج‬ɼ೺ѲσόΠεͷม‫ྔܗ‬ʵ൓ྗಛੑͷҧ͍͕
ਓؒͷ೺Ѳಈ࡞ʹରͯ͠ҟͳΔ‫͕ܹ֮ࢗײ‬༩͑ΒΕΔ͜ͱΛ֬ೝͨ͠ɽ
6.2
6.2.1
ࠓ‫ޙ‬ͷ՝୊ͱকདྷͷల๬
Լࢶಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜ
ɹԼࢶಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜͰ͸ɼఆྔతධՁγεςϜͱ
ͯ͠ͷ৴པੑΛߴΊΔͨΊʹɼΑΓଟ͘ͷඃ‫ऀݧ‬Λର৅ͱͨ͠ྟচࢼ‫ݧ‬Λߦ͏ඞཁ͕͋Δɽ
·ͨɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷධՁΛಉҰͷίʔεͰ୹࣌ؒͰ࣮ࢪͰ͖ΔΑ͏ʹվྑΛߦ͏ඞ
ཁ͕͋Δɽ͞Βʹɼྍ๏࢜ʹΑΔྟচ‫ݱ‬৔Ͱͷ༗ޮੑ‫ূݕ‬Λߦ͏ͨΊʹɼϢʔβϏϦςΟ
ͷ޲্ΛਤΔඞཁ͕͋Δɽ
͜ΕΒͷͨΊʹ‫ࡏݱ‬ɼҩྍ๏ਓాதձ੢ඌපӃͷཧֶྍ๏࢜Βͱ‫ڞ‬ಉ‫ڀݚ‬Λߦ͍ͬͯΔɽ
Լࢶಈ࡞ͷ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁΛ୹࣌ؒͰߦ͏͜ͱΛ໨తͱͯ͠ɼ໨ඪ‫ي‬ಓͷ
೉қ౓͕ҟͳΔ 3 ͭͷίʔεʢ௚ઢίʔεɼԁίʔεɼ੕‫ܕ‬ίʔεʣΛ‫ؚ‬ΉධՁγεςϜΛ
։ൃͨ͠ɽ͜ͷධՁγεςϜΛɼSeMoiDʢSensory motor integration function deviceʣͱ
໊෇͚ɼѪ஌‫ݝ‬੢ඌࢢʹࡏॅͷߴྸऀΛର৅ͱͨ͠େ‫ن‬໛ͳྟচࢼ‫ݧ‬Λ࣮ࢪதͰ͋Δɽ͞
ΒʹɼSeMoiD ͷকདྷతͳ੡඼ԽΛ໨తʹਾ͑ͯɼࡾ༸‫ࣜג޻ػ‬ձࣾͷٕज़ऀ΋ަ͑ͨҩ
޻࢈ֶ࿈‫Ͱܞ‬औΓ૊ΜͰ͍Δɽ·ͨɼ͜ΕΒͷऔΓ૊Έ͸ɼѪ஌‫ݝ‬ͷฏ੒ 25 ೥౓ͷ෱ࢱ༻
۩ɾհ‫ޢ‬ϩϘοτ࣮ূධՁଅਐࣄ‫ۀ‬ͷ΋ͱͰ΋࣮ࢪ͍ͯ͠Δɽ
ҰํͰɼຊ࿦จʹ͸‫͕͍ͳ͍ͯ͠ࡌܝ‬ɼ͜Ε·Ͱʹ๚໰ϦϋϏϦςʔγϣϯͰͷར༻࣮੷
΋͋Δɽܰ౓ͷ೴ଔதยຑᙺ‫ऀױ‬Λର৅ʹɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁ๏ͷద༻Մೳ
ੑͱ༗ޮੑΛ‫ͨ͠ূݕ‬ɽ͜ͷ݁ՌɼԼࢶຑᙺͷঢ়ଶΛࣔ͢Լࢶ Brunnstrom stageʢεςʔ
δ IʙVI ͷ 6 ஈ֊ͰධՁɼεςʔδ VI ͕΄΅ਖ਼ৗʣ͕ɼεςʔδ IV Ҏ্ͷܰ౓‫͋Ͱऀױ‬
Ε͹ຑᙺଆͷԼࢶʹ͓͍ͯ΋ద༻ՄೳͰ͋Δ͜ͱɼຑᙺͷճ෮աఔΛධՁͰ͖Δ͜ͱΛ֬
ೝ͢Δ͜ͱͰ༗ޮੑΛ‫ͨ͠ূݕ‬ɽ·ͨɼεςʔδ IV ͷதͰ΋ຑᙺ͕ॏ౓ͷ‫ऀױ‬͸ɼย଍ʹ
૷ணͨ͠σόΠεʹରͯ͠ମॏΛֻ͚ա͗ͯ͠·͍ɼσόΠεΛচ໘্Ͱ‫׈‬ΒͤΔԼࢶಈ
࡞Λ࣮ࢪͰ͖ͳ͍ࣄྫ͕ࢄ‫͞ݟ‬Εͨɽ͞ΒʹɼσόΠεʹରͯ͠ՙॏΛֻ͚ա͍͗ͯΔͱ
͍͏֮ࣗ঱ঢ়΋ͳ͔ͬͨɽ͜ΕΒΛղܾ͢Δखஈͱͯ͠ɼຊ࿦จͰࣔͨ͠ࢹ֮΁ͷӡಈ৘
ใͷόΠΦϑΟʔυόοΫΛར༻͢Δ͜ͱ͕‫͛ڍ‬ΒΕΔɽ଍ཪͱσόΠεͱͷؒʹՙॏΛ
ୈ6ষ
82
݁࿦
‫ܭ‬ଌ͢Δ‫ײ‬ѹηϯαΛෳ਺ຕ഑ஔͯ͠ɼԼࢶಈ࡞தͷՙॏྔͱՙॏͷ෼෍Λը໘ʹදࣔ͢
Δ‫ػ‬ೳΛ։ൃ͢Δඞཁ͕͋Δͱߟ͑ΒΕΔɽ
6.2.2
ਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜ
ɹਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁγεςϜͰ͸ɼྟচ‫ݱ‬৔ʹಋೖͯ͠ఆྔతධ
ՁγεςϜͷ༗ޮੑΛ‫͢ূݕ‬Δඞཁ͕͋Δɽ·ͨɼਫ਼ີ೺Ѳಈ࡞ʹ͓͚Δ‫ݻ‬༗‫֮ײ‬ͷఆྔ
తධՁγεςϜΛ։ൃ͢Δඞཁ͕͋Δɽ
͜ΕΒͷͨΊʹ‫ࡏݱ‬ɼ໨നେֶͷ࡞‫ྍۀ‬๏࢜ɼࣾձҩྍ๏ਓࡒஂେ࿨ձ෢ଂଜࢁපӃͷ
࡞‫ྍۀ‬๏࢜ɼҩྍ๏ਓѪ੔ձ๺ేපӃͷ࡞‫ྍۀ‬๏࢜Βʹ iWakka Λି͠ग़࣮ͯ͠ূධՁத
Ͱ͋Δɽ·ͨɼiWakka ͷ੡඼‫ݸ‬ମࠩΛগͳͯ͘͠೺Ѳྗ‫ܭ‬ଌ૷ஔͱͯ͠ͷ৴པੑΛ޲্͞
ͤΔͨΊʹɼ‫ࣜג‬ձࣾΞΠϜʹ੡଄Λґཔͯ͠औΓ૊ΜͰ͍Δɽ
‫ʹऀױ‬ର͢Δ࣮ূධՁͰ͸ɼ্‫ه‬ͷ՝୊ͷୡ੒Λ໨తͱ͢Δͱͱ΋ʹɼࢹ֮΁ͷӡಈ৘
ใͷόΠΦϑΟʔυόοΫΛར༻ͨ͠ޮՌతͳτϨʔχϯά๏ͷ։ൃΛ໨ࢦ͍ͯ͠Δɽྫ
͑͹ɼFig. 4.4 ͷ࣌‫ྻܥ‬άϥϑʹ͍ͭͯɼ໨ඪ஋ͱͳΔ೺Ѳྗʢ΋͘͠͸ม‫ྔܗ‬ʣΛࣔ͢
೾‫ܗ‬Λ௥Ճ͢Δɽ໨ඪ஋ͷ೾‫ʹܗ‬ରͯ͠೺Ѳྗʢ΋͘͠͸ม‫ྔܗ‬ʣΛௐ੔͢Δ՝୊ͷઃఆ
͕ՄೳͱͳΓɼ͜Ε͕޼៛ੑͷτϨʔχϯάʹͳΓಘΔɽ·ͨɼ೺ѲσόΠεΛ೺Ѳ͢Δ
ࡍͷ࢟ҐΛม͑Δ͜ͱʹΑΓɼ਎ମ෦Ґ΍ೳྗΛΑΓࡉ෼ԽͰ͖ΔՄೳੑ΋෼͔͖ͬͯͨɽ
͕ͨͬͯ͠ɼࠓ‫ޙ‬͸͜ΕΒͷ࢖͍ํΛ·ͱΊͨઆ໌ॻͷ࡞੒ɼͳΒͼʹධՁɾτϨʔχϯ
άγεςϜͷ։ൃΛߦ͏ඞཁ͕͋Δɽ
6.2.3
՝୊ࢦ޲‫ܕ‬τϨʔχϯάΛ࣮‫͢ݱ‬ΔͨΊͷϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬
ɹຊ‫Ͱڀݚ‬͸ɼ௒ߴྸࣾձʹ͓͚Δޮ཰తͰ࣭ͷߴ͍ҩྍɾհ‫ޢ‬ͷఏ‫ڙ‬ମ੍ͷߏஙɼͳΒ
ͼʹ஍Ҭแ‫ׅ‬έΞγεςϜͷߏஙʹ‫د‬༩͢Δ͜ͱΛ໨ࢦͯ͠ɼϦϋϏϦςʔγϣϯͷྟচ
‫ݱ‬৔χʔζʹ‫ͮ͘ج‬ఆྔతධՁγεςϜͷ։ൃʹऔΓ૊ΜͰ͍Δɽ͜ΕΒͷఆྔతධՁγ
εςϜͷ࣮‫ʹݱ‬ΑΓɼϦϋϏϦςʔγϣϯʹΑΔ࣏ྍޮՌΛఆྔతʹධՁ͢Δ͜ͱ͕Ͱ͖
ΔͨΊɼޮՌతͳ࣏ྍ๏ͷཱ֬ɼ৽͍࣏͠ྍ๏ͷ։ൃɼઐ໳ऀؒ΍‫ऀױ‬ͷ৘ใ‫ڞ‬༗΁ͱ‫ܨ‬
͕ΓɼϦϋϏϦςʔγϣϯͷޮ཰Խ͕‫ظ‬଴Ͱ͖Δɽ
ࠓ‫ޙ‬͸ɼલड़ͨ͠՝୊Λࠀ෰ͯ͠Ώ͘ͱಉ࣌ʹɼ೔ৗੜ‫׆‬ಈ࡞ͷ޲্ͷͨΊͷ‫ػ‬ೳճ෮
Λ໨తͱͨ͠τϨʔχϯάγεςϜͷ։ൃ΋ߦ͍͖͍ͬͯͨɽӡಈ‫ػ‬ೳ͕௿Լ͍ͯ͠ͳ͍
‫ऀױ‬΍ߴྸऀʹରͯ͠͸ɼຊ‫ͨࣔ͠Ͱڀݚ‬ఆྔతධՁγεςϜΛར༻ͨ͠τϨʔχϯά๏
6.2. ࠓ‫ޙ‬ͷ՝୊ͱকདྷͷల๬
83
Λ։ൃ͢Δ͜ͱʹΑ࣮ͬͯ‫͖Ͱݱ‬Δͱߟ͑Δɽ
ҰํͰɼӡಈ‫ػ‬ೳ͕௿Լͨ͠‫ऀױ‬ʢྫ͑͹ɼBrunnstrom stage III ҎԼͷ೴ଔதยຑᙺ‫ױ‬
ऀʣ͸ɼ‫ݸ‬ʑͷؔઅΛಠཱͯ͠ಈ͔͢͜ͱ͕Ͱ͖ͳ͍ͨΊɼຑᙺͷվળΛ໨తͱͨ͠τϨʔ
χϯάγεςϜͷ։ൃΛߦ͏ඞཁ͕͋ΔɽຑᙺͷվળͷͨΊͷޮՌతͳํ๏ͱͯ͠ɼ՝୊ࢦ
޲‫ܕ‬τϨʔχϯάʢTask-specific trainingʣ͸ߴ͍ΤϏσϯε͕ใࠂ͞Ε͍ͯΔ [67]- [69]ɽ
՝୊ࢦ޲‫ܕ‬τϨʔχϯάͱ͸ɼ‫ऀױ‬ͷຑᙺଆΛճ෮ͤ͞ΔͨΊʹɼ೔ৗੜ‫ऀױ͍͓ͯʹ׆‬
͕ੵ‫ۃ‬తʹຑᙺଆΛ࢖͑ΔΑ͏ʹྍ๏͕࢜ଅ͢͜ͱΛࢦ͢ɽ۩ମతʹ͸ɼ‫ࣗऀױ‬਎͕࠶֫
ಘΛ‫ر‬๬͢Δෳࡶͳಈ࡞ʹରͯ͠ɼ୯७ͳಈ࡞ʹࡉ෼Խ֤ͯ͠ಈ࡞͕Ͱ͖ΔΑ͏ʹͳΔ·
Ͱ൓෮తʹ‫܁‬Γฦ͠ɼ࠶ͼ૊Έ߹Θͤͯ࠷ऴతʹෳࡶͳಈ࡞ͷ࠶֫ಘΛ໨ࢦ͢ͱ͍͏ํ๏
Ͱ͋Δɽ͜ͷΑ͏ͳ՝୊ࢦ޲‫ܕ‬τϨʔχϯά͸ɼӡಈֶशΛ൐͓ͬͯΓɼେ೴ൽ࣭ͷՄ઼
తมԽΛҾ͖‫͕ͱ͜͢͜ى‬ใࠂ͞Ε͍ͯΔ [70] [71]ɽ͞Βʹɼຑᙺଆͷ্ԼࢶΛ࢖Θͳ͍
͜ͱʹΑΔ‫ྗے‬ͷ௿Լ΍ɼӡಈ‫ػ‬ೳ΍‫ػ֮ײ‬ೳΛ࢘Δ೴‫׆‬ಈྖҬͷ‫ݮ‬গΛ๷͙͜ͱ͕Ͱ͖
Δ [72]- [74]ɽ
ຊ‫ڀݚ‬͸ɼର৅෦Ґͱೳྗͷࡉ෼ԽΛਤ͓ͬͯΓɼ্‫ه‬ͷ՝୊ࢦ޲‫ܕ‬τϨʔχϯάͷํ
๏ʹ΋Ϛον͢Δͱߟ͑ΒΕΔɽ·ͨɼӡಈֶशΛޮ཰ྑ͘ߦΘͤΔͨΊͷखஈͱͯ͠ɼό
ΠΦϑΟʔυόοΫ͕༗ޮͰ͋Δͱߟ͑ΒΕΔɽ͕ͨͬͯ͠ɼ޼៛ੑͱ‫ݻ‬༗‫֮ײ‬ͷτϨʔχ
ϯάγεςϜͷ։ൃɼͳΒͼʹόΠΦϑΟʔυόοΫΛ༻͍ͨ՝୊ࢦ޲‫ܕ‬τϨʔχϯάΛ
࣮‫͢ݱ‬ΔͨΊͷϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ։ൃΛߦ͍͖͍ͬͯͨɽ࠷‫ʹޙ‬ɼ͜ΕΒΛ
࣮‫͢ݱ‬Δ্ͰϦϋϏϦςʔγϣϯͷྟচ‫ݱ‬৔ͱͷؔΘΓํ͸ΑΓҰ૚ॏཁʹͳͬͯ͘Δͱ
ߟ͍͑ͯΔɽ͜Ε·Ͱ௨Γɼҩࢣ΍ྍ๏࢜Βʹ͸։ൃऀͷҰһͱͯ͠ࢀըͯ͠΋Β͍ɼ‫ױ‬
ऀɼ‫ऀڀݚ‬ɼ޻ֶٕज़ऀΒ΋ަ͑ͯɼօͰʮਅʹ໾ཱͭϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ։
ൃʯΛߦ͍͖͍ͬͯͨɽ
ࢀߟจ‫ݙ‬
85
ࢀߟจ‫ݙ‬
[1] ૯຿লɾ౷‫ہܭ‬ɼਓ‫ޱ‬ਪ‫ܭ‬
[2] ಺ֳ෎ɼฏ੒ 24 ೥൛ ߴྸࣾձനॻ
[3] ಺ֳ෎ɼࣾձอোɾ੫Ұମվֵେߝʹ͍ͭͯʢ2012 ೥ 2 ֳ݄ܾٞఆʣ
[4] ࣾձอো੍౓վֵࠃຽձٞɼࣾձอো੍౓վֵࠃຽձٞ ใࠂॻ (2013 ೥ 8 ݄)
[5] ްੜ࿑ಇলɼҩྍɾհ‫౓੍ޢ‬վֵʹ͍ͭͯʢ2011 ೥ 11 ݄ʣ
[6] ްੜ࿑ಇলɼࡏ୐ҩྍɾհ‫ޢ‬ͷਪਐʹ͍ͭͯ
[7] ஌‫ܙ‬ଂ 2013ɼϦϋϏϦςʔγϣϯ
[8] ೔ຊ੔‫֎ܗ‬Պֶձ਎ମো֐ҕһձɼؔઅՄಈҬදࣔͳΒͼʹଌఆ๏ɼϦϋϏϦςʔγϣ
ϯҩֶ : ೔ຊϦϋϏϦςʔγϣϯҩֶձࢽɼVol.11, No.2, pp.127-132, 1974.
[9] Brunnstrom S, Motor testing procedures in hemiplegia: based on sequential recovery
stages, Physical Therapy, Vol. 46, No.4, pp.357-375, 1966.
[10] ๬݄‫ٱ‬ɼ೴ଔதʹ͓͚Δ‫ػ‬ೳো֐ͱධՁɼཧֶྍ๏ՊֶɼVol.22ɼNo.1ɼpp.33-38ɼ2007.
[11] ްੜ࿑ಇলɼ݈߁೔ຊ 21
[12] Ichiro Miyai, Neuroscience based strategies for neurorehabilitation, Brain and Nerve,
Vol.59, No.4, pp.347-355, 2007.
[13] Ҫ্‫܄‬ɼӡಈ‫ػ‬ೳճ෮Λ໨తͱͨ͠೴ଔதϦϋϏϦςʔγϣϯͷ೴ՊֶΛࠜ‫͢ͱڌ‬Δ
ཧ࿦ͱͦͷ࣮ࡍɼ૬ᖒපӃҩֶࡶࢽ Vol.8, pp.1-11, 2010.
[14] Janet H. Carr, Roberta B. Shephered, ை‫ݟ‬ହଂʢ༁ʣ, ࡈ౻ত඙ʢ༁ʣɼ೴ଔதͷӡ
ಈྍ๏ʕΤϏσϯεʹ‫ػͮ͘ج‬ೳճ෮τϨʔχϯάɼҩֶॻӃɼ2004.
ࢀߟจ‫ݙ‬
86
[15] ಠཱߦ੓๏ਓ৽ΤωϧΪʔɾ࢈‫ٕۀ‬ज़૯߹։ൃ‫ߏػ‬ʢNEDOʣ‫ڀݚ‬ධՁҕһձɿ
ʮ਎ମ
‫ػ‬ೳϦϋϏϦࢧԉγεςϜʯதؒධՁใࠂॻɼ2002.
ʮ਎ମ
[16] ಠཱߦ੓๏ਓ৽ΤωϧΪʔɾ࢈‫ٕۀ‬ज़૯߹։ൃ‫ߏػ‬ʢNEDOʣ‫ڀݚ‬ධՁҕһձɿ
‫ػ‬ೳϦϋϏϦࢧԉγεςϜʯࣄ‫ޙ‬ධՁใࠂॻɼ2005.
[17] ‫ۀ࢈ࡁܦ‬ল঎຿৘ใ੓ࡦ‫ ہ‬ҩྍɾ෱ࢱ‫ࣨۀ࢈ثػ‬ɼ‫ۀ࢈ࡁܦ‬লʹ͓͚Δҩྍ‫ۀ࢈ثػ‬
੓ࡦʹ͍ͭͯʢ2013 ೥ 9 ݄ʣ
[18] ৿ాྑจɼࢁ࡚Ұಙɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼ‫ך‬ຊ͋ͣ͞ɼਿӜҰढ़ɼ
ञҪٛਓɼ٢҆හ඙ɼଜా३ɼখ޲ప࠸ɼ৿ɹ྄ɼ৽ඒम࣏ɼத໺ஐ೭ɼཬதҁࢠɼߴ
ඌ‫ࢠܙ‬ɼࢁຊޫஉɼञҪণ෉ɼ຀ढ़Ұɼ޻ֶٕज़Λ‫ͨ͠࢖ۦ‬ϦϋϏϦ޻ֶ࿈‫ܞ‬ɼѪ஌
‫ݝ‬ཧֶྍ๏ֶձࢽɼVol.22, No.1, pp.38-39, 2010.
[19] ৿ాྑจɼࢁ࡚Ұಙɼࠤ౻ಙ޹ɼਓͱਓͷឺΛେ੾ʹͨ͠ϦϋϏϦࢧԉ‫ثػ‬ͷ։ൃ, ੜ
‫׆‬ੜ໋ࢧԉҩྍ෱ࢱ޻ֶ‫ֶܥ‬ձ࿈߹େձ 2012(LIFE2012) ࿦จू, OS1-2-1, 2012.
[20] ాᬒߒจɼߴ໦๕໌ɼ੨໦Յོɼ৿ాྑจɼ࣮ફใࠂʮϦϋϏϦϧωοαϯε‫ڀݚ‬ձʯ
ʹΑΔ࢈‫ֶ׭‬࿈‫ܞ‬ͷϦϋϏϦςʔγϣϯ‫ثػ‬։ൃɼҩྍैࣄऀχʔζΛ༏ઌͨ͠ҩ޻
࿈‫ܞ‬ɼ೔ຊ࡞‫ྍۀ‬๏࢜‫ڠ‬ձֶज़ࢽʮ࡞‫ྍۀ‬๏ʯɼVol.32ɼNo.2ɼpp.171-175, 2013.
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ँࣙ
93
ँࣙ
ຊ࿦จΛ·ͱΊΔ͜ͱ͕Ͱ͖ͨͷ΋ɼඇৗʹଟ͘ͷํʑͷ͝ࢧԉ͝‫ྗڠ‬ͷࣀ෺Ͱ͋Γɼ͜
͜ʹ͋ΒͨΊͯ‫ँײ‬ͷҙΛද͠·͢ɽ
ຊ࿦จΛ·ͱΊΔʹ͋ͨΓɼ‫ࢦڀݚ‬ಋ͔ΒֶҐ࿦จ৹ࠪ·Ͱͷ͋ΒΏΔ໘Ͱɼ࢝ऴ࠙੾
ஸೡͳ͝ࢦಋͱ͝ॿ‫ݴ‬ΛࣀΓ·໊ͨ͠‫ݹ‬԰޻‫ۀ‬େֶେֶӃ޻ֶ‫ڀݚ‬Պͷ৿ాྑจ‫ڭ‬तʹ৺
ΑΓ‫͢·͍ͨ͠ँײ‬ɽ͞ΒʹɼֶҐ৹ࠪʹ‫ܞ‬Θ͍͖ͬͯͨͩ༗ӹͳ͝ॿ‫ݴ‬ΛࣀΓ·໊ͨ͠
‫ݹ‬԰޻‫ۀ‬େֶେֶӃ޻ֶ‫ڀݚ‬Պͷ‫࡚ؠ‬੣‫ڭ‬तɼӏࣂ༟೭‫ڭ‬तɼࠤ໺໌ਓ‫ڭ‬तʹਂ͘‫͍ँײ‬
ͨ͠·͢ɽ
·ͨɼ࠙੾ஸೡͳ͝ॿ‫ݴ‬ΛࣀΓ·໊ͨ͠‫ݹ‬԰޻‫ۀ‬େֶେֶӃ޻ֶ‫ڀݚ‬Պͷࠤ౻ಙ޹ॿ‫ڭ‬
ʹਂ͘‫͢·͍ͨ͠ँײ‬ɽ
ຊ‫ڀݚ‬ͷԼࢶಈ࡞ͷ‫ܭ‬ଌγεςϜͷ։ൃʹ͋ͨΓɼଟେͳΔ͝ॿ‫ࢧ͝ͱݴ‬ԉΛࣀΓ·͠
ͨɼ໊‫ݹ‬԰େֶҩֶ෦ෟଐපӃϦϋϏϦςʔγϣϯ෦ཧֶྍ๏࢜ͷӬ୩‫ࢯجݩ‬ɼֶߍ๏ਓ
ηϜΠֶԂ౦ւҩྍՊֶઐ໳ֶߍཧֶྍ๏ֶՊͷྛଚ߂ࢯɼࠃཱ௕णҩྍ‫ڀݚ‬ηϯλʔ੸
௣֎Պҩ௕ͷञҪٛਓࢯɼಉηϯλʔ‫ڀݚ‬ੜͷҏ౻஧ࢯɼ‫ݹ໊ݩ‬԰େֶҩֶ෦ෟଐපӃϦ
ϋϏϦςʔγϣϯ෦ཧֶྍ๏࢜ͷਿӜҰढ़ࢯɼதཬઍึࢯ, ‫ך‬ຊ͋ͣ͞ࢯɼ๚໰‫ޢ؃‬εςʔ
γϣϯϦϋεςʔδ౦ւཧֶྍ๏࢜ͷখ޲ప࠸ࢯɼҩྍ๏ਓాதձ੢ඌපӃϦϋϏϦςʔ
γϣϯՊཧֶྍ๏࢜ͷฏҪୡ໵ࢯɼ෢ాय़ࡊࢯɼਿӜ༝Ղࢯɼࡾ༸‫ࣜג޻ػ‬ձࣾ৘ใٕज़෦
ͷখࡔҪ݈ೋࢯɼࣲా‫ࢯޛ‬ɼେ੢੒యࢯɼҏ౻তതࢯɼਫ໺େհࢯʹਂ͘‫͢·͍ͨ͠ँײ‬ɽ
ຊ‫ڀݚ‬ͷਫ਼ີ೺Ѳಈ࡞ͷ‫ܭ‬ଌγεςϜͷ։ൃʹ͋ͨΓɼଟେͳΔ͝ॿ‫ࢧ͝ͱݴ‬ԉΛࣀΓ
·ͨ͠ɼ໨നେֶ࡞‫ྍۀ‬๏ֶՊͷ໼㟒ܿ‫ڭ‬तɼҩྍ๏ਓѪ੔ձ๺ేපӃϦϋϏϦՊ࡞‫ྍۀ‬
๏࢜ͷখ৿݈࢘ࢯɼా‫ޱ‬ਅ࠸ࢯɼ‫ࣜג‬ձࣾΞΠϜͷࡩҪ‫ࢯږ‬ɼ‫ٱ‬อాྯࢯɼ༗‫ݶ‬ձࣾੜମ
‫ॴڀݚߏػ‬ͷࠤத޹ೋࢯʹਂ͘‫͢·͍ͨ͠ँײ‬ɽ
ͦͯ͠ɼത࢜લ‫ظ‬՝ఔʹ͓͖·ͯ͠ɼ͝ࢦಋͱ͝ॿ‫ݴ‬ΛࣀΓ·໊ͨ͠‫ݹ‬԰޻‫ۀ‬େֶେֶ
Ӄ޻ֶ‫ڀݚ‬Պͷക࡚ଠ଄‫ڭ‬तɼా‫͢·͍ͨ͠ँײ͘ਂʹڭॿ྄ޱ‬ɽ
ຊ‫ڀݚ‬Λ਱ߦ͢Δʹ͋ͨΓଟେͳ‫ྗڠ‬Λ͍͖ͯͨͩ͠·ͨ͠ɼ৿ా‫ࣨڀݚ‬ଔ‫ۀ‬ੜͷᖛࡔ
७ࢯɼࠓઘେ஍ࢯɼኌཱᠳࢯɼ๺ࢁՂԝཬࢯɼࡏ੶தͷதౢ৳‫ࢯޗ‬ɼۚ౦‫͍ͨँײʹࢯ܅‬
͠·͢ɽ
94
ँࣙ
·ͨɼ৿ా‫Ͱࣨڀݚ‬ͷ‫׆ڀݚ‬ಈΛࢧ͑ͯԼ͍͞·ͨ͠ൿॻͷླ໦‫ܙ‬ඒࢠࢯʹਂ͘‫͍ँײ‬
ͨ͠·͢ɽ
࠷‫ʹޙ‬ɼ‫ʹڞͰࣨڀݚ‬աͨ͝͠Ӄੜɼֶ෦ੜͷօ༷ɼ‫ͨ͠·͖͍ͩͨྗڠ͝ʹڀݚ‬ઌੜ
΍ඃ‫ऀݧ‬ͷํʑΛ͸͡Ίɼຊ‫ڀݚ‬͸ɼ͜͜Ͱ͸ॻ͖͖Εͳ͍΄Ͳଟ͘ͷํʑʹ‫ܞ‬Θ͍ͬͯ
͖ͨͩ·ͨ͠ɽօ༷ͷԹ͔͍͝ࢧԉͱ͝‫ʹྗڠ‬৺ΑΓ‫ँײ‬ਃ্͛͠·͢ɽ
‫੷ۀڀݚ‬
95
‫੷ۀڀݚ‬
ຊ࿦จʹؔ࿈͢Δ‫੷ۀڀݚ‬
ֶज़࿦จ (ࠪಡ༗Γ)
(1) ࠓઘେ஍ɼࢁ㟒Ұ℄ɼ৿ాྑจɼࠤ౻ಙ޹ɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼञҪٛਓɼ
ҏ౻஧ɼԼࢶͷ‫ڠ‬ௐಈ࡞ʹ͓͚Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁɼߴ଎৴߸ॲཧԠ༻ٕज़
ֶձࢽ, Vol.15, No.1, pp.31-38 (2012.12)
(2) ࢁ㟒Ұ℄ɼ৿ాྑจɼࠤ౻ಙ޹ɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼञҪٛਓɼԼ
ࢶͷ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͱ‫ݻ‬༗‫֮ײ‬ͷఆྔతධՁγεςϜʕ੸਷਷಺जᙾखज़‫ऀױ‬Λର৅ͱ
ͨ͠༗ޮੑ‫ূݕ‬ʕɼ೔ຊ෱ࢱ޻ֶձࢽɼVol.15, No.2ɼpp.44-49 (2013.11)
(3) ࢁ㟒Ұ℄ɼኌཱᠳɼ๺ࢁՂԝཬɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼ໼࡚ܿɼখ৿݈࢘ɼ
ా‫ޱ‬ਅ࠸ɼ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁͷͨΊͷ‫ܭ‬ଌγεςϜͷ։ൃɼߴ଎৴߸
ॲཧԠ༻ٕज़ֶձࢽɼVol.16, No.1ɼpp.64-71 (2013.12)
(4) ࢁ㟒Ұ℄ɼ๺ࢁՂԝཬɼதౢ৳‫ޗ‬ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼࡩҪ‫ږ‬ɼ‫ٱ‬อాྯɼ
໼࡚ܿɼখ৿݈࢘ɼా‫ޱ‬ਅ࠸ɼ೺Ѳಈ࡞ʹ͓͚Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁͷͨΊͷ
‫ܭ‬ଌσόΠεͷ։ൃɼ೔ຊ෱ࢱ޻ֶձࢽɼ2014ʢ‫ܾࡌܝ‬ఆʣ
ࠃࡍձٞ࿦จ (ࠪಡ༗Γ)
(1) Lixiang Liao, Jun Hamasaka, Kazunori Yamazaki, Yoshifumi Morita, Hiroyuki Ukai,
Kenji Komori, Kouji Sanaka, A Newly Developed System for Quantitative Evaluation on
Hand Sensorimotor Integration Function, Procs. of the 3rd Int. Conf. on BioMedical
Engineering and Informatics (BMEI’10), pp.1789-1793 (2010.10)
(2) Daichi Imaizumi, Kazunori Yamazaki, Yoshifumi Morita, Hiroyuki Ukai, Motoki Nagaya, Takahiro Hayashi, Tadashi Ito, Azusa Kayamoto, Kazutoshi Sugiura, Yoshihito Sakai,
Development of Rehabilitation Support System for Lower Limbs for Recovery and Quantitative Evaluation of Proprioception, Procs. of the 3rd Int. Conf. on BioMedical Engineering and Informatics (BMEIʞ 10), pp.1818-1822 (2010.10)
96
‫੷ۀڀݚ‬
(3) Kazunori Yamazaki, Donggun Kim, Yoshifumi Morita, Noritaka Sato, Hiroyuki Ukai,
Kenji Kozakai, Satoru Shibata, Shigenori Onishi, Akihiro Ito, Daisuke Mizuno, Tatsuya
Hirai, Haruna Takeda, Yuka Sugiura, Development of Measurement System for Quantitative Evaluation of Skillfulness of Lower Extremities, International Conference on Artificial
Life and Robotics (ICAROB2014, January 11-13, 2014, Oita), (2014.1) (To be published)
ࠃࡍձٞ࿦จ (ࠪಡແ͠)
(1) Kazunori Yamazaki, Daichi Imaizumi, Yoshifumi Morita, Hiroyuki Ukai, Motoki Nagaya, Takahiro Hayashi, Tadashi Ito, Azusa Kayamoto, Kazutoishi Sugiura, Yoshihito
Sakai, Clinical Trial of New Device Somatic Sensation System for the Patient with Postopetrative Spinal Cord Injury, 6th World Congress on Biomechanics, WCB-A00436-00578
(2010.8)
(2) Kenji Komori, Jun Hamasaka, Kazunori Yamazaki, Yoshifumi Morita, Hiroyuki Ukai,
Kouji Sanaka, A Newly Developed System to Assess Comprehensive Hand Functions, 6th
World Congress on Biomechanics, WCB-A01290-02252 (2010.8)
ࠃ಺‫ޱ‬಄ൃද
(1) ࢁ㟒Ұ℄, ৿ాྑจ, ञҪٛਓ, Ӭ୩‫جݩ‬, ྛଚ߂, தཬઍึ, ਿӜҰढ़, ӏࣂ༟೭ɼ੸਷
‫֮ײ‬ো֐‫ऀױ‬ͷͨΊͷମੑ‫֮ײ‬ճ෮ϦϋϏϦγεςϜͷ։ൃɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾ
ϝΧτϩχΫεߨԋձʞ 09 ߨԋ࿦จूɼ1A2-M06(1)-(2) (2009.5)
(2) ࠓઘେ஍ɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼਿӜҰढ़ɼҏ౻஧ɼ‫ך‬
ຊ͋ͣ͞ɼञҪٛਓɼԼࢶମੑ‫֮ײ‬ճ෮ϦϋϏϦγεςϜͷ։ൃɼ- Ճ଎౓ɾ֯଎౓ηϯα
Λ༻͍ͨճ෮۩߹ఆྔධՁγεςϜͷఏҊ -ɼ೔ຊ‫ػ‬ցֶձ౦ւࢧ෦ୈ 59 ‫ظ‬૯ձߨԋձߨ
ԋ࿦จू, pp.57-58 (2010.3)
(3) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼ৿ాྑจɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼ ‫ך‬ຊ͋ͣ͞ɼ
ਿӜҰढ़ɼञҪٛਓɼମੑ‫֮ײ‬ϦϋϏϦςʔγϣϯγεςϜͷ։ൃɼʕ੸਷‫ࡧޙ‬ো֐ͷఆ
ྔతධՁࢦඪͷҰߟ࡯ʕɼ ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձ’10 ߨԋ࿦
จू, 1P1-E17(1)-(2) (2010.6)
(4) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼ৿ాྑจɼӏࣂ༟೭ɼా‫྄ޱ‬ɼക࡚ଠ଄ɼ Ӭ୩‫جݩ‬ɼྛଚ߂ɼҏ
౻஧ɼ‫ך‬ຊ͋ͣ͞ɼਿӜҰढ़ɼञҪٛਓɼ‫ݻ‬༗‫֮ײ‬ϦϋϏϦςʔγϣϯͷͨΊͷԼࢶ‫֮ײ‬ӡ
‫੷ۀڀݚ‬
97
ಈ౷߹‫ػ‬ೳͷධՁɼୈ̔ճੜ‫ࢧ׆‬ԉ޻ֶ‫ֶܥ‬ձ࿈߹େձߨԋ࿦จूɼpp.499-502 (2010.9)
(5) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼখ޲ప࠸ɼ೴ଔதยຑ
ᙺ‫ऀױ‬ͷԼࢶ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁɼฏ੒ 23 ೥౓ి‫ֶ܎ؔؾ‬ձ౦ւࢧ෦࿈߹େձ
࿦จूɼ࿦จ൪߸ H3-7 (2011.9)
(6) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼӬ୩‫جݩ‬ɼྛଚ߂ɼञ
ҪٛਓɼԼࢶ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁํ๏ͷఏҊɼฏ੒ 23 ೥౓ి‫ֶ܎ؔؾ‬ձ౦ւࢧ
෦࿈߹େձ࿦จूɼ࿦จ൪߸ H3-2 (2011.9)
(7) ๺ࢁՂԝཬɼኌཱᠳɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼখ৿݈࢘ɼా‫ޱ‬ਅ࠸ɼ
ࢦ‫ڠ‬ௐੑධՁͷͨΊͷॊೈ෺ม‫ܗ‬Λར༻ͨ͠ଌఆσόΠεͷఏҊɼฏ੒ 23 ೥౓ి‫ֶ܎ؔؾ‬
ձ౦ւࢧ෦࿈߹େձ࿦จूɼ࿦จ൪߸ H3-1 (2011.9)
(8) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼখ޲ప࠸ɼԼࢶ‫֮ײ‬ӡಈ
౷߹‫ػ‬ೳͷఆྔతධՁ๏ͷ։ൃɼʵ೴ଔதยຑᙺ‫ऀױ‬ͷఆྔతධՁ๏ͷҰߟ࡯ʵɼୈ 12 ճ
‫ܭ‬ଌࣗಈ੍‫ֶޚ‬ձγεςϜΠϯςάϨʔγϣϯ෦໳ߨԋձ (SI2011) ༧ߘूɼ pp.1487-1489
(2011.12)
(9) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼখ޲ప࠸ɼԼࢶ‫֮ײ‬ӡ
ಈ౷߹‫ػ‬ೳͷͨΊͷϦϋϏϦςʔγϣϯγεςϜͷ։ൃ - ҡ࣋‫ظ‬೴ଔதยຑᙺ‫ʹऀױ‬ର͢
ΔఆྔతධՁͷߟ࡯ -ɼిࢠ৘ใ௨৴ֶձٕज़ใࠂୈ 61 ճ෱ࢱ৘ใ޻ֶ‫ڀݚ‬ձɼpp.73-78
(2012.1)
(10) ࢁ㟒Ұ℄ɼࠓઘେ஍ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼখ޲ప࠸ɼԼࢶ‫֮ײ‬ӡ
ಈ౷߹‫ػ‬ೳͷͨΊͷϦϋϏϦςʔγϣϯγεςϜͷ։ൃ - ҡ࣋‫ظ‬೴ଔதยຑᙺ‫ʹऀױ‬ର͢
ΔఆྔతධՁͷߟ࡯ -ɼిࢠ৘ใ௨৴ֶձٕज़ใࠂୈ 61 ճ෱ࢱ৘ใ޻ֶ‫ڀݚ‬ձɼpp.73-78
(2012.1)
(11) தౢ৳‫ޗ‬ɼ๺ࢁՂԝཬɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼࡩҪ‫ږ‬ɼ‫ٱ‬อా
ྯɼ໼࡚ܿɼখ৿݈࢘ɼా‫ޱ‬ਅ࠸ɼ೺Ѳಈ࡞ʹ͓͚Δ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳͷఆྔతධՁ૷ஔ
ͷઃ‫͓ܭ‬ΑͼੑೳධՁɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձ’13 ߨԋ࿦จूɼ
1A1-C14 (2013.5)
(12) ࢁ㟒Ұ℄ɼኌཱᠳɼ๺ࢁՂԝཬɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼ໼࡚ܿɼখ৿݈࢘ɼ
ా‫ޱ‬ਅ࠸ɼ೺Ѳಈ࡞ʹ͓͚Δ޼៛ੑͷఆྔతධՁͷͨΊͷ‫ܭ‬ଌγεςϜͷ։ൃɼߴ଎৴߸
ॲཧԠ༻ٕज़ֶձ 2013 ೥‫ڀݚ‬ձߨԋ࿦จूɼpp.17-22 (2013.7)
(13) ਿӜ༝Ղɼന໦य़ࡊɼࢁ㟒Ұ℄ɼۚ౦‫܅‬ɼฏҪୡ໵ɼ৿ాྑจɼ‫֮ײ‬ӡಈ౷߹‫ػ‬ೳධ
Ձͷ࠶‫ݱ‬ੑͱؔઅҐஔ֮ͱͷؔ࿈ੑ͍ͭͯɼୈ 29 ճ౦ւ๺཮ཧֶྍ๏ֶज़େձɼO-144ɼ
98
‫੷ۀڀݚ‬
(2013.11)
(14) ࢁ㟒Ұ℄ɼۚ౦‫܅‬ɼ৿ాྑจɼࠤ౻ಙ޹ɼӏࣂ༟೭ɼখࡔҪ݈ೋɼࣲా‫ޛ‬ɼେ੢੒యɼ
ҏ౻তതɼਫ໺େհɼฏҪୡ໵ɼന໦य़ࡊɼਿӜ༝ՂɼԼࢶͷ޼៛ੑͷఆྔతධՁͷͨΊ
ͷ‫ܭ‬ଌγεςϜͷ։ൃɼୈ 56 ճࣗಈ੍‫ޚ‬࿈߹ߨԋձ ߨԋ֓ཁूɼpp.1464-1466ɼ2013
ಛ‫ڐ‬
(1) ৿ాྑจɼӏࣂ༟೭ɼᖛࡔ७ɼࢁ㟒Ұ℄ɼখ৿݈࢘ɼ‫֮ײ‬౷߹ӡಈ‫ػ‬ೳͷ‫ܭ‬ଌ૷ஔɼಛ
։ 2012-024394
(2) ৿ాྑจɼӏࣂ༟೭ɼࠤ౻ಙ޹ɼࢁ㟒Ұ℄ɼ๺ࢁՂԝཬɼதౢ৳‫ޗ‬ɼࡩҪ‫ږ‬ɼ‫ٱ‬อాྯɼ
‫֮ײ‬ӡಈ౷߹‫ػ‬ೳධՁ૷ஔ‫͜ͼٴ‬Εʹ࢖༻͞ΕΔϓϩʔϒɼಛ‫ ئ‬2012-202994
ड৆ྺ
(1) ࡒஂ๏ਓ໊‫ݹ‬԰౎ࢢ࢈‫ݹ໊ࣾެڵৼۀ‬԰ࢢ৽ࣄ‫ࢧۀ‬ԉηϯλʔओ࠵ɼֶੜϏδωεΞΠσ
Ξɼ༏ल৆ɼ୊໨ɿҩྍ‫ݱ‬৔ͷχʔζ͔Βੜ·Εͨମੑ‫֮ײ‬ճ෮ϦϋϏϦγεςϜʢ2009.1ʣ
(2) ೔‫৽ۀ޻ץ‬ฉࣾओ࠵ɼୈ 6 ճΩϟϯύεϕϯνϟʔάϥϯϓϦ (CVG) த෦ɼಛผ৆த
෦‫ࡁܦ‬࿈߹ձձ௕৆ɼ୊໨ɿҩ޻࿈‫ܞ‬ͷಛ௃Λੜ͔ͨ͠‫֮ײ‬ճ෮ϦϋϏϦγεςϜͷ։ൃ
ͱൢചʢ2009.2ʣ
(3) ౦ւ஍۠Ի੠ؔ࿈‫ࣨڀݚ‬ओ࠵ɼ2009 ೥౓౦ւ஍۠Ի੠ؔ࿈‫ࣨڀݚ‬म࿦தؒൃදձɼνϟ
Ϩϯδ৆ɼ୊໨ɿମੑ‫֮ײ‬ϦϋϏϦγεςϜͷ։ൃʢ2009.8ʣ
(4) ໊‫ݹ‬԰޻‫ۀ‬େֶίϛϡχςΟ૑ੈ‫ڭ‬ҭ‫ڀݚ‬ηϯλʔओ࠵ɼίϛϡχςΟ޻ֶΞ΢Υʔυ
2012 B ෦໳ɼ঑ྭ৆ɼ୊໨ɿ೺Ѳಈ࡞ϦϋϏϦςʔγϣϯࢧԉ‫ثػ‬ͷ஍ҬίϛϡχςΟ΁
ͷ‫༻׆‬ʢ2013.2ʣ
ͦͷଞͷ‫੷ۀڀݚ‬
ֶज़࿦จ (ࠪಡ༗Γ)
(1) ৿ాྑจɼࢁ㟒Ұ℄ɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼ‫ך‬ຊ͋ͣ͞ɼਿӜҰढ़ɼ
ञҪٛਓɼ٢҆හ඙ɼଜాɹ३ɼখ޲ప࠸ɼ৿ɹ྄ɼ৽ඒम࣏ɼத໺ஐ೭ɼཬதҁࢠɼߴ
ඌ‫ࢠܙ‬ɼࢁຊޫஉɼञҪণ෉ɼ຀ढ़Ұɼ޻ֶٕज़Λ‫ͨ͠࢖ۦ‬ϦϋϏϦ޻ֶ࿈‫ܞ‬ɼѪ஌‫ݝ‬ཧ
ֶྍ๏ֶձࢽɼୈ 22 ‫ר‬ɼୈ 1 ߸ɼpp.38-39 (2010.6)
‫੷ۀڀݚ‬
99
(2) ҏ౻஧ɼଠాਐɼഅᔹߊ޷ɼӬ୩‫جݩ‬ɼྛଚ߂ɼਿӜҰढ़ɼྛຬ඙ɼࢁ㟒Ұ℄ɼࠓઘ
େ஍ɼ৿ాྑจɼҪ্ਅ‫ڷ‬ɼϋΠώʔϧาߦ࣌ͷ᪜઀஍ʙཱ‫٭‬த‫͚͓ʹظ‬Δකؔઅ֯౓ͷ
มԽɼୈ 32 ճࠃཱେֶ๏ਓϦϋϏϦςʔγϣϯίϝσΟΧϧֶज़େձࢽɼvol.31, pp.41-45
(2011.6)
(3) ҏ౻஧ɼଠాਐɼഅᔹߊ޷ɼӬ୩‫جݩ‬ɼྛଚ߂ɼਿӜҰढ़ɼྛຬ඙ɼ੨໦ߒ୅ɼࢁ㟒Ұ
℄ɼࠓઘେ஍ɼ৿ాྑจɼϋΠώʔϧண༻࣌ʹ‫͖ى‬Δ֮ࣗతयૌʹΑΔΞϯέʔτௐࠪใ
ࠂɼѪ஌‫ݝ‬ཧֶྍ๏ֶձࢽɼୈ 24 ‫ר‬ɼୈ 1 ߸ɼpp.31-33 (2012.6)
(4) ҏ౻஧ɼଠా࿨ٛɼฏҪୡ໵ɼന໦य़ࡊɼ٢‫ٱ‬Έͳࢠɼࢁ㟒Ұ℄ɼ৿ాྑจɼ‫ޙ‬ਐา
ߦ࿅श͕࠷େาߦ଎౓ʹ‫͢΅ٴ‬Ө‫ڹ‬ɼѪ஌‫ݝ‬ཧֶྍ๏ֶձࢽɼVol.25, No.2, pp.63-65 ɹ
(2013.12)
(5) Noritaka Sato, Keita Kamada, Yuki Hiramatsu, Kazunori Yamazaki, Yoshifumi Morita,
Hiroyuki Ukai, Kenji Komori, Shinya Taguchi, Quantitative Evaluation of Shoulder Joint
Function to Reproduce Results of Clinical Tests by Therapist, Journal of Robotics andMechatronics, Vol.25, No.6, pp.983-991 (2013.12)
(6) ҏ౻஧ɼଠా࿨ٛɼഅᔹߊ޷ɼᅳౡ޺थɼࢁ㟒Ұ℄ɼ৿ాྑจɼ୩઒ஐ߁ɼ٢‫ٱ‬Έͳࢠɼ
‫ٱ‬อߊɼञҪٛਓɼาߦέΠσϯεͷมԽΛͤͨ͞‫ޙ‬ਐาߦ࿅श͕ߴྸऀͱए೥ऀͷӡಈ
‫ػ‬ೳʹ‫͢΅ٴ‬ଈ࣌ޮՌɼཧֶྍ๏Պֶɼ2014ʢ‫ܾࡌܝ‬ఆʣ
ࠃࡍձٞ࿦จ (ࠪಡ༗Γ)
(1) Yuki Hiramatsu, Yuki Iida, Kazunori Yamazaki, Yoshifumi Morita, Hiroyuki Ukai,
Kenji Komori, Shinya Taguchi, Fundamental Study on Evaluation of Rotator Cuff Function
Using Three-Dimensional Force Display Robot, Procs. of the 4rd International Conference
on BioMedical Engineering and Informatics (BMEI’11 in Shanghai, China), pp.1325-1329
(2011.10)
(2) Michito Yasukita, Yuki Iida, Kazunori Yamazaki, Noritaka Sato, Yoshifumi Morita,
Hiroyuki Ukai, Yoshiaki Takagi, Yoshitaka Aoki, Hirofumi Tanabe, Rumi Tanemura, Evaluation of Simplified Repeated Resistance Training System for Severe Hemiplegic Stroke
Patient, Procs. of Int. Conf. on Control, Automation and Systems 2012 (ICCAS2012 in
Jeju Island, Korea), pp.1566-1569 (2012.10)
(3) JungTang Wang, Kazunori Yamazaki, Yoshifumi Morita, Noritaka Sato, Hirofumi Tan-
100
‫੷ۀڀݚ‬
abe, Measuring system of therapist’s guiding motion for standing up training of hemiplegic stroke patient and analysis results of patient’s motion, International Conference on
Artificial Life and Robotics (ICAROB2014, January 11-13, 2014, Oita), (2014.1) (To be
published)
ࠃ಺‫ޱ‬಄ൃද
(1) ৿ాྑจɼࢁ㟒Ұ℄ɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼ‫ך‬ຊ͋ͣ͞ɼਿӜҰढ़ɼ
ञҪٛਓɼ٢҆හ඙ɼଜా३ɼখ޲ప࠸ɼ৿ ྄ɼ৽ඒम࣏ɼத໺ஐ೭ɼཬதҁࢠɼߴඌ‫ܙ‬
ࢠɼࢁຊޫஉɼञҪণ෉ɼ຀ढ़Ұɼ޻ֶٕज़Λ‫ͨ͠࢖ۦ‬ϦϋϏϦ޻ֶ࿈‫ܞ‬ɼୈ 20 ճѪ஌‫ݝ‬
ཧֶྍ๏ֶज़େձঞ࿥ूɼp.38 (2010.3)
(2) ‫ڮݹ‬༟Ұɼ൧ా༟‫ل‬ɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼদҪ৴ߦɼాᬒߒจɼ̏࣍‫ݩ‬
൓ྗఏࣔϩϘοτΛ༻্͍ͨࢶϦϋϏϦ‫܇‬࿅ɾධՁࢧԉγεςϜͷ։ൃɼʵ CI ྍ๏ʹ͓͚
Δෛՙ఍߅‫܇‬࿅ʵɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձʞ 10 ߨԋ࿦จूɼ
1P1-E19(1)-(2) (2010.6)
(3) ൧ా༟‫ل‬ɼ‫ڮݹ‬༟Ұɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼদҪ৴ߦɼখ৿݈࢘ɼ̏࣍‫ݩ‬൓
ྗఏࣔϩϘοτΛ༻্͍ͨࢶϦϋϏϦ‫܇‬࿅ɾධՁࢧԉγεςϜͷ։ൃɼʵ‫ྗے‬ධՁγες
Ϝʵɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձʞ 10 ߨԋ࿦จूɼ1P1-E20(1)-(2)
(2010.6)
(4) ྛ༞հɼฏ໺ୡ໵ɼՏ߹༎थɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼࠤத޹ೋɼ தໂా༞యɼ
ߴඌ‫ࢠܙ‬ɼ ྍ๏࢜ཆ੒ͷͨΊͷකؔઅϩϘοτͷ։ൃɼʵϫΠϠʔ‫ۦ‬ಈ‫ܥ‬ͷઃ‫࣮ૅجͱܭ‬
‫ݧ‬ʵɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձʞ 10 ߨԋ࿦จूɼ1P1-E18(1)-(2)
(2010.6)
(5) ҏ౻஧ɼӬ୩‫جݩ‬ɼྛଚ߂ɼ‫ך‬ຊ͋ͣ͞ɼਿӜҰढ़ɼଠాਐɼྛຬ඙ɼࢁ㟒Ұ℄ɼࠓ
ઘେ஍ɼ৿ాྑจɼҪ্ਅ‫ڷ‬ɼഅᔹߊ޷ɼ ϋΠώʔϧาߦ࣌ͷ᪜઀஍ʙཱ‫٭‬த‫͚͓ʹظ‬Δ
කؔઅ֯౓ͷมԽɼୈ 32 ճࠃཱେֶ๏ਓϦϋϏϦςʔγϣϯίϝσΟΧϧֶज़େձঞ࿥ɼ
p.20 (2010.9)
(6) ൧ా༟‫ل‬ɼฏদ༎‫ج‬ɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼాᬒߒจɼछଜཹඒɼԣࢁਗ਼ࢠɼ
্ࢶϦϋϏϦ‫܇‬࿅ɾධՁࢧԉγεςϜͷ։ൃɼ- CI ྍ๏ʹ͓͚ΔϩϘοτΛ༻͍ͨෛՙ఍
߅‫܇‬࿅ʹؔ͢Δߟ࡯ -ɼୈ 11 ճ‫ܭ‬ଌࣗಈ੍‫ֶޚ‬ձγεςϜΠϯςάϨʔγϣϯ෦໳ߨԋձ
(SI2010) ༧ߘूɼpp.1808-1811 (2010.12)
(7) ҏ౻஧ɼଠాਐɼഅᔹߊ޷ɼӬ୩‫جݩ‬ɼྛଚ߂ɼਿӜҰढ़ɼྛຬ඙ɼ੨໦ߒ୅ɼࢁ㟒Ұ
‫੷ۀڀݚ‬
101
℄ɼࠓઘେ஍ɼ৿ాྑจɼϋΠώʔϧண༻࣌ʹ‫͖ى‬Δ֮ࣗతयૌʹΑΔΞϯέʔτௐࠪใ
ࠂɼୈ 21 ճѪ஌‫ݝ‬ཧֶྍ๏ֶज़େձঞ࿥ूɼp.36 (2011.3)
(8) ࢁ㟒Ұ℄ɼࣇ‫ۄ‬༟উɼ৿ాྑจɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼ ‫ך‬ຊ͋ͣ͞ɼ
Ҫ্‫ߦو‬ɼᚸು๎༪ɼਿӜҰढ़ɼञҪٛਓɼ ࠊ௧‫ػ‬ংղ໌ͷͨΊͷৼಈ਺ՄมσόΠεͷ
։ൃɼ- 60Hz ͷৼಈܹ͕݈ࢗৗऀͷॏ৺ಈ༳ʹ༩͑ΔӨ‫ ڹ‬-ɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾ
ϝΧτϩχΫεߨԋձʞ 11 ߨԋ࿦จूɼ2P2-D06(1)-(3) (2011.6)
(9) ฏদ༎‫ج‬ɼ൧ా༟‫ل‬ɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼখ৿݈࢘ɼా‫ޱ‬ਅ࠸ ̏࣍‫ݩ‬൓
ྗఏࣔ‫ܕ‬ϩϘοτΛ༻͍ͨϩʔςʔλΧϑͷ‫ػ‬ೳධՁʹؔ͢Δ‫ݕૅج‬౼ɼ೔ຊ‫ػ‬ցֶձϩ
ϘςΟΫεɾϝΧτϩχΫεߨԋձʞ 11 ߨԋ࿦จूɼ2P2-C03(1)-(4) (2011.6)
(10) ฏ໺ୡ໵ɼྛ༟հɼࢁ㟒Ұ℄ɼ৿ాྑจɼӏࣂ༟೭ɼࠤத޹ೋɼதໂా༟యɼ ճટӡ
ಈΛ‫ؚ‬ΉකؔઅϩϘοτͷ։ൃɼ- ݈ৗऀͱো͕͍ऀͷකؔઅ໛ٖͷ‫ݧ࣮ূݕ‬ʵɼ೔ຊ‫ػ‬
ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձʞ 11 ߨԋ࿦จूɼ2P2-D07(1)-(4) (2011.6)
(11) ৿ాྑจɼ൧ా༟‫ل‬ɼฏদ༎‫ج‬ɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼӏࣂ༟೭ɼాᬒߒจɼछଜཹ
ඒɼ 3 ࣍‫ݩ‬൓ྗఏࣔϩϘοτΛ༻͍ͨ೴ଔதยຑᙺ‫ऀױ‬ͷ൓෮ෛՙ఍߅‫܇‬࿅ɼୈ 12 ճ‫ܭ‬
ଌࣗಈ੍‫ֶޚ‬ձγεςϜΠϯςάϨʔγϣϯ෦໳ߨԋձ (SI2011) ༧ߘूɼ pp.2225-2227
(2011.12)
(12) ৿ాྑจɼ൧ా༟‫ل‬ɼฏদ༎‫ج‬ɼ҆๺ཧਓɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼӏࣂ༟೭ɼߴ໦๕
໌ɼ੨໦Յོɼాᬒߒจɼछଜཹඒɼ ॏ౓೴ଔதยຑᙺ‫ऀױ‬ͷͨΊͷ؆қ൓෮ෛՙ఍߅‫܇‬
࿅૷ஔͷ։ൃɼిࢠ৘ใ௨৴ֶձٕज़ใࠂୈ 61 ճ෱ࢱ৘ใ޻ֶ‫ڀݚ‬ձɼpp.67-72 (2012.1)
(13) ҆๺ཧਓɼ൧ా༟‫ل‬ɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼߴ໦๕໌ɼ੨໦Յ
ོɼాᬒߒจɼछଜཹඒɼॏ౓೴ଔதยຑᙺ‫ऀױ‬ͷͨΊͷ؆қ൓෮ෛՙ఍߅‫܇‬࿅૷ஔͷྟচ
ධՁɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫεߨԋձ’12 ߨԋ࿦จूɼ1A1-M07(1)-(4)
(2012.5)
(14) େ໺ହੜɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼӬ୩‫جݩ‬ɼྛଚ߂ɼҏ౻஧ɼञ
Ҫٛਓɼ‫ৼॴہ‬ಈܹ͕݈ࢗৗऀͷ࢟੎όϥϯεʹ༩͑ΔӨ‫ڹ‬ɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾ
ϝΧτϩχΫεߨԋձʞ 12 ߨԋ࿦จूɼ1A1-M11(1)-(3) (2012.5)
(15) ࣉా༞‫ج‬ɼҏ౻फ़ɼଧాਖ਼थɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼ೔Լ෦ୡ໵ɼླ໦ਗ਼
࣏ɼখྛ޾༤ɼ‫܇ཱى‬࿅ࢧԉ૷ஔͷͨΊͷ‫ܭ‬ଌ૷ஔͷ։ൃɼฏ੒ 24 ೥౓ి‫ֶ܎ؔؾ‬ձ౦ւ
ࢧ෦࿈߹େձ࿦จूɼ࿦จ൪߸ B2-2 (2012.9)
(16) ৿ాྑจɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼਓͱਓͷឺΛେ੾ʹͨ͠ϦϋϏϦࢧԉ‫ثػ‬ͷ։ൃɼ
102
‫੷ۀڀݚ‬
ੜ‫׆‬ੜ໋ࢧԉҩྍ෱ࢱ޻ֶ‫ֶܥ‬ձ࿈߹େձ 2012(LIFE2012) ࿦จूɼOS1-2-1 (2012.11)
(17) ҏ౻஧ɼଠా࿨ٛɼഅᔹߊ޷ɼᅳౡ޺थɼࢁ㟒Ұ℄ɼ৿ాྑจɼ୩઒ஐ߁ɼ٢‫ٱ‬Έͳ
ࢠɼฏҪୡ໵ɼߴྸऀͱए೥ʹ͓͚Δ‫ޙ‬ਐาߦ࿅श͕ӡಈ‫ػ‬ೳʹ༩͑ΔӨ‫ڹ‬ɼୈ 17 ճ೔ຊ
ମྗҩֶձ౦ւ஍ํձֶज़ूձঞ࿥ूɼp.33 (2013.3)
(18) தଜӳ࢜ɼେ໺ହੜɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼҏ౻஧ɼञҪٛਓɼ
ए೥ऀͱߴྸऀʹ͓͚Δ‫ৼॴہ‬ಈܹࢗʹର͢ΔཱҐॏ৺ಈ༳ʹؔ͢Δߟ࡯ɼ೔ຊ‫ػ‬ցֶձ
ϩϘςΟΫεɾϝΧτϩχΫεߨԋձ’13 ߨԋ࿦จूɼ2P1-G04 (2013.5)
(19) ‫ܚాח‬ଠɼฏদ༎‫ج‬ɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼӏࣂ༟೭ɼখ৿݈࢘ɽా‫ޱ‬ਅ
࠸ɼ্ࢶͷӡಈͱൃ‫ʹྗش‬ண໨ͨ͠‫ؔݞ‬અ‫ػ‬ೳͷఆྔతධՁʕ‫ࠪݕ‬खٕʹ͓͚Δྍ๏࢜ͷ
ಈ࡞ͷղੳʹ‫ͮ͘ج‬ఆྔతධՁʹؔ͢Δߟ࡯ʕɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχ
Ϋεߨԋձ’13 ߨԋ࿦จूɼ1A1-D02 (2013.5)
(20) ‫ٶ‬Ҫྑଠɼେ‫࢙୓ݹ‬ɼ୩໊ӳষɼ৿ాྑจɼࢁ㟒Ұ℄ɼύʔΩϯιϯපʹΑΔ͘͢Έ
଍ʹର͢Δࣗॿ۩ͷ‫ݕ‬౼ɼୈ 47 ճ ೔ຊ࡞‫ྍۀ‬๏ֶձɼߨԋ൪߸ 100247 (2013.6)
(21) Ԧᒇಊɼࢁ㟒Ұ℄ɼࠤ౻ಙ޹ɼ৿ాྑจɼ೴ଔதยຑᙺ‫ऀױ‬ͷ‫ཱى‬τϨʔχϯάʹ͓
͚Δྍ๏࢜ͷ༠ಋಈ࡞ղੳͷͨΊͷ‫ܭ‬ଌγεςϜ, ฏ੒ 25 ೥౓ి‫ֶ܎ؔؾ‬ձ౦ւࢧ෦࿈߹
େձ࿦จूɼ࿦จ൪߸ H5-3 (2013.9)
ಛ‫ڐ‬
(1) ৿ాྑจɼӏࣂ༟೭ɼࠤ౻ಙ޹ɼࢁ㟒Ұ℄ɼ҆๺ཧਓɼాᬒߒจɼߴ໦๕໌ɼ੨໦Յོɼ
ӡಈ‫ػ‬ೳճ෮૷ஔɼಛ‫ ئ‬2013-239945

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