Source: https://patents.google.com/patent/JP6554996B2/en
Timestamp: 2019-11-20 23:18:57
Document Index: 416444125

Matched Legal Cases: ['Application No. 2012', 'art 22', 'art 24', 'art 33', 'art 33', 'art 33', 'art 33', 'arts 33', 'art 33', 'art 33', 'art 33', 'art 33', 'art 33', 'art 357', 'art 33', 'art 33', 'art 33', 'art, 23', 'art, 25', 'art, 36']

JP6554996B2 - Walking training apparatus and walking training method thereof - Google Patents
Walking training apparatus and walking training method thereof Download PDF
JP6554996B2
JP6554996B2 JP2015160697A JP2015160697A JP6554996B2 JP 6554996 B2 JP6554996 B2 JP 6554996B2 JP 2015160697 A JP2015160697 A JP 2015160697A JP 2015160697 A JP2015160697 A JP 2015160697A JP 6554996 B2 JP6554996 B2 JP 6554996B2
JP2015160697A
JP2017038658A (en
光留 菅田
2015-08-17 Application filed by トヨタ自動車株式会社 filed Critical トヨタ自動車株式会社
2015-08-17 Priority to JP2015160697A priority Critical patent/JP6554996B2/en
2017-02-23 Publication of JP2017038658A publication Critical patent/JP2017038658A/en
2017-08-31 Priority claimed from KR1020170110846A external-priority patent/KR102037099B1/en
2019-08-07 Publication of JP6554996B2 publication Critical patent/JP6554996B2/en
238000009963 fulling Methods 0 claims description title 145
210000003371 Toes Anatomy 0 claims description 48
210000002683 Foot Anatomy 0 claims description 35
210000000474 Heel Anatomy 0 claims description 27
210000002414 Leg Anatomy 0 description 80
The present invention relates to a gait state determination device, a gait state determination method, and a gait training device that can determine a user's gait state.
For example, the applicant has proposed a walking training device that includes a walking assistance device that is attached to a user's leg and assists the user's walking (see Patent Document 1).
Japanese Patent Application No. 2012-95793
By the way, the first tension means for pulling at least one of the walking assist device and the user's leg upward and forward, and the second tension means for pulling at least one of the walking assist device and the user's leg upward and backward. Further, a configuration in which the resultant force of the vertically upward component of the tensile force by the first and second pulling means is substantially equal to the weight of the walking assist device, and reduces the gravitational load of the walking assist device on the legs. Suppose that In this case, the inventors have found that the following problems occur. That is, the start of swinging out the leg during walking is also the timing at which the leg that is moving backward is reversed to the forward movement. For this reason, the leg part with which the walking assistance apparatus was mounted | worn will receive the inertial force of back from a walking assistance apparatus at the timing of this inversion. However, although the said walk training apparatus reduces the load of the gravity of the walk assistance apparatus with respect to a user's walk, it does not reduce even the load of the said inertial force. For this reason, an excessive load is applied to the leg portion at the start of swinging out of the leg portion to which the walking assist device is attached. Further, when the gravity load in the vertically upward direction is reduced as in the above configuration, not only the inertial force in the rear direction but also the inertial force in the vertical direction for lifting the leg from the ground (raising upward) becomes a load.
Therefore, in order to reduce the load of the inertial force, it is possible to accurately determine the start of swinging of the leg portion to which the walking assist device is attached, and at the start of swinging, for example, the pulling force of the pulling means to reduce the inertial force. Is preferably increased. However, the walking training apparatus does not determine the start of swinging out of the leg portion to which the walking assist device is attached, and does not reduce the load.
The present invention has been made in view of such problems, and is a gait state determination device, a gait state determination method, and a gait training device capable of accurately determining the start of swinging out of a leg portion to which a walking assist device is attached. The main purpose is to provide
One aspect of the present invention for achieving the above object is a gait state determination device for determining a gait state of a user in which a walking assistance device that assists walking is attached to a leg, and the walking assistance device includes: A foot mounting portion provided on the user's foot, a load detecting means provided on the foot mounting portion for detecting a load generated on the sole of the user, and detected by the load detecting means. Based on the load on the sole, the load center calculating means for continuously calculating the load center position applied to the sole during the gait operation of the user, and the load center position calculated by the load center calculating means is the sole And an operation determining means for determining the timing of starting to swing forward the leg portion to which the walking assist device is attached when transitioned from the state located in the heel region to the toe region. Gait state determination device . According to this aspect, it is possible to accurately determine the start of swinging out of the leg portion to which the walking assist device is attached.
In this one aspect, when the load determining center moves from the sole region of the sole to the toe region and continues in the toe region for a predetermined time or longer, the movement assisting device You may determine with the timing of the start of swinging out the mounted leg part ahead. According to this aspect, it is possible to determine the start of swinging out in a stable state in which the load center position is continuously in the toe area for a predetermined time or more. Thereby, it is possible to determine the start of swinging forward of the leg portion to which the walking assist device is attached with higher accuracy.
One aspect of the present invention for achieving the above object is a gait state determination method for determining a gait state of a user in which a walking assist device that assists walking is attached to a leg portion, and the walking assist device includes: A step of detecting a load generated on the foot of the user provided on the foot mounting portion provided on the user's foot, and during a gait operation of the user based on the detected foot load The step of continuously calculating the load center position applied to the sole of the foot, and when the calculated load center position transitions from the state of being located in the heel region of the sole to the toe region, A gait state determination method characterized by including a step of determining the timing of starting swinging out of the attached leg portion. According to this aspect, it is possible to accurately determine the start of swinging out of the leg portion to which the walking assist device is attached.
One aspect of the present invention for achieving the above object includes a first pulling means for pulling the leg portion upward and forward directly or via the walking assist device, and the first pulling means. A control means for controlling the first tension means so that a vertically upward component of a tensile force reduces the weight of the walking assistance device; and the gait state determination device, wherein the control means is the gait state. A walking training apparatus, wherein when the determination device determines that the timing of starting swinging forward of the leg portion is reached, the first pulling means generates an additional pulling force in addition to the pulling force. May be. According to this aspect, the inertial force at the start of the swinging out of the leg portion can be reduced by increasing the pulling force by the first pulling means at the start of the swinging out determined accurately.
According to the present invention, it is possible to provide a gait state determination device, a gait state determination method, and a gait training device that can accurately determine the start of swinging out of a leg to which a walking assist device is attached.
1 is a perspective view illustrating a schematic configuration of a walking training apparatus according to an embodiment of the present invention. It is a perspective view which shows the schematic structure of a walking assistance apparatus. It is a figure which shows the load sensor provided in the toe side and the heel side of a foot frame. It is a block diagram showing a schematic system configuration of a control device concerning one embodiment of the present invention. 1 is a block diagram illustrating a schematic system configuration of a computer according to an embodiment of the present invention. It is a figure which shows the toe | toe area | region of a sole, an intermediate | middle area | region, and a heel area | region leg part. It is a flowchart which shows an example of the determination flow of a gait state determination method. It is a figure which shows an example of the timing of the swing start of a leg part. It is a flowchart which shows an example of the determination flow of a gait state determination method. It is a figure which shows an example of the timing of the swing start of a leg part.
FIG. 1 is a perspective view showing a schematic configuration of a walking training apparatus according to an embodiment of the present invention. The walking training device 1 according to the present embodiment is a device for performing walking training for a user such as a stroke hemiplegic patient. The walking training device 1 includes a walking assist device 2 attached to a user's leg, and a training device 3 that performs user walking training.
The walking assistance device 2 is attached to, for example, an affected leg of a user who performs walking training and assists the user's walking (FIG. 2). The walking assist device 2 includes an upper leg frame 21, a lower leg frame 23 connected to the upper leg frame 21 via a knee joint part 22, and a foot frame connected to the lower leg frame 23 via an ankle joint part 24 ( One specific example of the foot mounting portion) 25, a motor unit 26 that rotationally drives the knee joint portion 22, and an adjustment mechanism 27 that adjusts the movable range of the ankle joint portion 24. In addition, the structure of the said walking assistance apparatus 2 is an example, and is not restricted to this. For example, the walking assist device 2 may include a motor unit that rotationally drives the ankle joint portion 24.
The foot frame 25 is provided with a pair of load sensors 28 on the toe side and the heel side (FIG. 3). The load sensor 28 is a specific example of load detection means. The load sensor 28 is, for example, a vertical load sensor that detects a vertical load applied to the sole of the foot frame 25. The number and position of the load sensors 28 provided on the foot frame 25 may be arbitrary as long as the load center of the sole can be obtained with high accuracy. For example, three or more load sensors 28 need to be arranged, and each load sensor 28 is arranged so that each load sensor 28 is not in a straight line. The load center is preferably arranged so that the polygonal area formed by connecting the arranged load sensors 28 with a straight line becomes larger. Thereby, the load center can be detected with high accuracy in a wider range.
The walking assist device 2 is a specific example of a load center calculation unit, and based on the load on the sole of the foot frame 25 detected by the load sensor 28, the load center of the sole during the gait movement of the user ( The position of COP (Center of Pressure) (hereinafter referred to as COP position) is continuously calculated.
For example, as shown in FIG. 3, the center position of the sole of the foot frame 25 is the origin of the two-dimensional XY coordinates, the position (x1, y1) of the first load sensor 28 on the toe side, and the second load sensor on the toe side 28 (x2, y2), the position of the third load sensor 28 on the heel side (x3, y3), and the position of the fourth load sensor 28 on the heel side (x4, y4). The load applied to the first to fourth load sensors 28 is Ni (i = 1 to 4). The walking assist device 2 calculates the COP position (x COP , y COP ) using, for example, the following formula.
The method for calculating the COP position is an example, and the present invention is not limited to this. For example, a load distribution sensor for detecting the load distribution on the sole may be provided on the sole of the foot frame 25 instead of the load sensor 28. The walking assistance device 2 may calculate the COP position based on the load distribution on the soles detected by the load distribution sensor.
The upper leg frame 21 is attached to the upper leg of the user's leg, and the lower leg frame 23 is attached to the lower leg of the user's leg. The upper thigh frame 21 is provided with an upper thigh brace 212 for fixing the upper thigh, for example. The upper thigh frame 21 is provided with a horizontally long first frame 211 extending in the left-right direction for connecting a wire 36 of a first tension portion 33 described later.
In addition, the connection part of the said 1st tension | pulling part 33 is an example, and is not restricted to this. For example, the wire 36 of the first tension part 33 may be connected to the upper thigh brace 212, and the tension point of the first tension part 33 can be provided at an arbitrary position of the walking assist device 2.
The motor unit 26 assists the user's walking by rotationally driving the knee joint portion 22 according to the user's walking motion. In addition, the structure of the said walking assistance apparatus 2 is an example, and is not restricted to this. Any walking assisting device that can be attached to the user's leg and can assist the walking is applicable.
The training device 3 includes a treadmill 31, a frame body 32, first and second tension portions 33 and 34, and a control device 35. The treadmill 31 rotates the ring-shaped belt 311. The user gets on the belt 311, walks according to the movement of the belt 311, and performs the walking training.
The frame body 32 includes two pairs of pillar frames 321 erected on the treadmill 31, a pair of front and rear frames 322 connected to each pillar frame 321 and extending in the front-rear direction, and left and right connected to each front and rear frame 322. And three left and right frames 323 extending in the direction. The configuration of the frame body 32 is not limited to this. The frame main body 32 may have an arbitrary frame configuration as long as first and second tension portions 33 and 34 described later can be appropriately fixed.
The front left and right frame 323 is provided with a first tension portion 33 that pulls the wire 36 upward and forward. The first tension portion 33 is a specific example of the first tension means. For example, the first tension portion 33 includes a mechanism that winds and unwinds the wire 36, a motor that drives the mechanism, and the like. One end of the wire 36 pulled by the first pulling portion 33 is connected to the walking assist device 2. The first tension portion 33 pulls the walking assist device 2 upward and forward via the wire 36.
The vertically upward component of the tensile force by the first tension part 33 supports the weight of the walking assist device 2. By the horizontal front component of the tensile force by the first tension portion 33, the leg portion is assisted to swing out. Thereby, the user's walking load at the time of walking training can be reduced.
The second tension portion 34 is provided on the rear left and right frames 323 and pulls the wire 37 upward. One end of the wire 37 is connected to, for example, a belt attached near the user's waist. The second pulling unit 34 includes, for example, a mechanism for winding and rewinding the wire 37, a motor for driving the mechanism, and the like. The second pulling portion 34 pulls the user's waist portion upward via the wire 37. Thereby, the load by a user's own weight can be reduced. The 1st and 2nd tension | pulling parts 33 and 34 are each connected to the control apparatus 35 via the wiring.
The control device 35 controls the tensile force of the first and second tension portions 33 and 34, the driving of the treadmill 31, and the walking assist device 2. The control device 35 stores, for example, a CPU (Central Processing Unit) that performs arithmetic processing, control processing, and the like, a ROM (Read Only Memory) that stores a calculation program executed by the CPU, a control program, and various data. A hardware configuration is mainly composed of a microcomputer including a RAM (Random Access Memory) and an interface unit (I / F) for inputting / outputting signals to / from the outside. The CPU, ROM, RAM, and interface unit are connected to each other via a data bus or the like.
FIG. 4 is a block diagram illustrating a schematic system configuration of the control device according to the present embodiment.
The control device 35 includes, for example, a leg load control unit 351 that controls the first tension portion 33, a human load control unit 352 that controls the second tension portion 34, and a leg control that controls the walking assist device 2. The unit 353 includes a treadmill control unit 354 that controls the treadmill 31, a computer (Personal Computer) 355 that controls these units, and an operation panel 356 for operating the computer 355. The operation panel 356 displays information such as training instructions, training menus, training information (walking speed, biological information, etc.). The operation panel 356 is configured as a touch panel, for example, and the user can input various types of information (such as the tensile force of the first and second tension units 33 and 34) via the operation panel 356.
By the way, in the user's gait operation, the start of swinging out the leg is also the timing at which the leg moving backward is reversed to the forward movement. For this reason, the leg portion to which the walking assist device is attached receives an inertial force from the walking assist device to the rear at this reversal timing, and a load is applied to the leg portion. Further, when the leg is lifted upward, the downward inertia force also becomes a load when the user swings out the leg.
Therefore, in order to reduce the load of inertial force, it is possible to accurately determine the start of swinging out of the leg portion on which the walking assist device is mounted, and at the start of swinging out, increase the pulling force of the pulling means so as to reduce the inertial force. It is preferable to do so.
In contrast, in the present embodiment, during human walking, attention is paid to the ergonomic characteristic that the COP position transitions from the heel area to the toe area from the grounding of the foot to the start of the swing, and this characteristic is used. The start of the swing is determined with high accuracy. That is, in the gait state determination device according to the present embodiment, a load generated on the sole of the foot frame 25 of the walking assist device 2 is detected, and a COP position applied to the sole based on the detected load on the sole. When the calculated COP position changes from the state where the calculated COP position is located in the sole region of the sole to the toe region, it is determined that the timing of starting to swing forward the leg portion to which the walking assist device 2 is attached is determined. . Thereby, it is possible to accurately determine the start of swinging out of the leg portion to which the walking assist device 2 is attached. Furthermore, the inertial force at the start of swinging out the leg portion can be reduced by increasing the pulling force f by the first pulling portion 33 and generating an additional pulling force at the start of the swinging out determined with high accuracy.
FIG. 5 is a block diagram showing a schematic system configuration of the computer according to the present embodiment. The computer 355 according to the present embodiment includes an operation determination unit 357 that determines the start of swinging out of the leg portion to which the walking assist device 2 is attached, and a tensile force calculation unit that increases the tensile force f by the first pulling unit 33 at the start of swinging. 358.
The operation determination unit 357 is a specific example of the operation determination unit. The motion determination unit 357 determines whether or not the COP position calculated by the walking assist device 2 has moved from the sole region of the sole of the foot frame 25 to the toe region, so that the walking assist device 2 is mounted. The start of swinging out the front of the leg is determined.
Next, a gait state determination method for accurately determining the start of swinging forward of the leg portion to which the walking assist device is attached will be described in detail.
For example, as shown in FIG. 6, an XY coordinate system with the origin at the center of the sole of the foot frame 25 is set. A toe region, an intermediate region, and a heel region are set on the sole of the XY coordinate system. On the sole of the foot, a region where the value of the X coordinate is equal to or greater than the toe region determination threshold is a toe region (shaded portion). A region where the value of the X coordinate is equal to or less than the wrinkle region determination threshold is a wrinkle region (shaded portion). A region having an X coordinate value larger than the heel region determination threshold and smaller than the toe region determination threshold (a region between the toe region and the heel region) is an intermediate region. The toe area determination threshold value and the heel area determination threshold value are obtained experimentally in advance, for example, and set in the ROM, RAM, or the like. The toe area determination threshold value and the heel area determination threshold value can be arbitrarily changed by the user via the operation panel 356, for example.
For example, when the COP position calculated by the walking assist device 2 in the XY coordinate system enters the toe region from the heel region through the intermediate region, the motion determination unit 357 moves forward of the leg portion to which the walking assist device 2 is attached. Is determined to have started.
FIG. 7 is a flowchart illustrating an example of a determination flow of the gait state determination method.
Based on the load on the sole of the foot frame 25 detected by the load sensor 28 of the walking assist device 2, the motion determination unit 357 determines whether or not the leg portion on which the walking assist device 2 is mounted is in a standing state. Determination is made (step S101).
When the motion determination unit 357 determines that the leg part to which the walking assist device 2 is attached is in the standing state (YES in step S101), the COP position x cop is greater than the toe region determination threshold value from a value smaller than the heel region determination threshold value. Whether the COP position has entered the toe area from the heel area (step S102). On the other hand, when the motion determination unit 357 determines that the leg part to which the walking assist device 2 is attached is not in the standing state (is in the free leg state) (NO in step S101), the operation determining unit 357 proceeds to (step S104) described later.
For example, as illustrated in FIG. 8, when the motion determination unit 357 determines that the COP position x cop is smaller than the heel region determination threshold value and is greater than or equal to the toe region determination threshold value (YES in step S <b> 102), walking assist It is determined that the swing-out of the leg portion to which the device 2 is attached has started (step S103). On the other hand, when the motion determination unit 357 determines that the COP position x cop is not smaller than the toe region determination threshold value from a value smaller than the heel region determination threshold value (NO in step S102), the walking assist device 2 is worn. It is determined that the forward swinging out of the leg has not been started (step S104).
The motion determination unit 357 is attached to the walking assist device 2 when the COP position calculated by the walking assist device 2 enters the toe region from the heel region and continuously enters the toe region for a predetermined time or more. It may be determined that the swing-out of the leg portion has started. For example, when the user's walking is vibrating, the COP position may be skipped or may become unstable due to vibration. Even in this case, the start of swinging can be determined in a stable state where the COP position enters the toe region from the heel region and continues to enter the toe region for a predetermined time or more. Thereby, it is possible to determine the start of swinging forward of the leg portion to which the walking assist device 2 is attached with higher accuracy. The predetermined time is set in advance in a ROM, a RAM, or the like according to, for example, the sensor characteristics of the load sensor and the gait state of the user. The predetermined time can be arbitrarily changed by the user via the operation panel 356, for example.
FIG. 9 is a flowchart illustrating an example of a determination flow of the above-described gait state determination method.
Based on the load on the sole of the foot frame 25 detected by the load sensor 28 of the walking assist device 2, the motion determination unit 357 determines whether or not the leg portion on which the walking assist device 2 is mounted is in a standing state. Determination is made (step S201).
When the motion determination unit 357 determines that the leg part to which the walking assist device 2 is attached is in the standing state (YES in step S201), the COP position x cop is greater than the toe region determination threshold value from a value smaller than the heel region determination threshold value. It is determined whether or not the value has reached (step S202). On the other hand, when the motion determination unit 357 determines that the leg portion to which the walking assistance device 2 is attached is not in the standing state (NO in step S201), the operation determination unit 357 proceeds to (step S205) described later.
When the motion determination unit 357 determines that the COP position x cop is smaller than the heel region determination threshold value and is greater than or equal to the toe region determination threshold value (YES in step S202), the COP position x cop continues for a predetermined time or more. It is then determined whether the value is equal to or greater than the toe area determination threshold (within the toe area) (step S203). On the other hand, when the operation determination unit 357 determines that the COP position x cop is not a value equal to or larger than the toe region determination threshold value from a value smaller than the heel region determination threshold value (NO in step S202), the operation determination unit 357 will be described later (step S205). Migrate to
For example, as illustrated in FIG. 10, when the movement determination unit 357 determines that the COP position x cop is a value equal to or greater than the toe region determination threshold value for a predetermined time or longer (YES in step S203), the walking assist device 2 It is determined that the attached leg has started swinging forward (step S204). On the other hand, when the motion determination unit 357 determines that the COP position x cop continues for a predetermined time or more and does not have a value equal to or greater than the toe region determination threshold value (NO in step S203), the motion determination unit 357 is in front of the leg portion to which the walking assist device 2 is attached. It is determined that the movement to the camera has not been started (step S205).
The tensile force calculation unit 358 normally controls the first tensile unit 33 so that the vertically upward component f1 of the tensile force f by the first tensile unit 33 reduces the gravity of the walking assistance device. For example, the tensile force calculation unit 358 normally makes the vertical upward component f1 of the tensile force f by the first tension unit 33 equal to the gravity of the walking assist device or equal to 1/2 of the gravity of the walking assist device. The 1st tension | tensile_strength part 33 is controlled so that it may become.
Further, when the motion determination unit 357 determines that the leg attached with the walking assist device 2 has started to be shaken, the tensile force calculation unit 358 increases the tensile force f by the first tension unit 33. The first tension part 33 is controlled.
As described above, according to the present embodiment, the user can walk by controlling the first tension portion 33 such that the vertical upward component f1 of the tensile force f by the first tension portion 33 reduces the gravity of the walking assist device. The gravity load of the walking assist device 2 can be reduced. Furthermore, according to the present embodiment, the start of swinging is accurately determined, the tensile force f by the first tension part 33 is increased at the start of the determined swinging, and the horizontal front component f1 is increased. It is possible to reduce the load of inertial force from the walking assist device 2.
The tensile force calculation unit 358 calculates a tensile force command value for the first tensile unit 33 and outputs the calculated tensile force command value to the first tensile unit 33. The first tension unit 33 pulls the wire 36 of the walking assist device 2 according to the tensile force command value output from the tensile force calculation unit 358. At this time, the vertically upward component f2 of the tensile force f by the first tension part 33 supports the weight of the walking assist device 2. The swinging out of the legs is assisted by the horizontal front component f1 of the tensile force f by the first tension part 33. That is, with respect to the normal walking motion of the user, the vertical force component f2 of the tensile force f supports the weight of the walking assist device 2, and the tensile force command value is determined by the horizontal front component f1 of the tensile force f. It is set so as to optimally assist the ejection of the part.
The tensile force calculation unit 358 increases the tensile force command value rapidly in a short time, for example, in a pulsed manner, according to the determination of the start of swinging out the leg by the operation determining unit 357. Note that the increase amount of the tensile force command value may be set based on, for example, the inertial force of the walking assist device 2 calculated from the moving speed of the belt 311 of the treadmill 31. The tensile force calculation unit 358 outputs a normal tensile force command value to the first tensile unit 33 when a predetermined time has elapsed after the start of swinging out the leg portion.
As described above, in the present embodiment, the load generated on the sole of the foot frame 25 of the walking assist device 2 is detected, and the COP position applied to the sole is calculated based on the detected load on the sole. When the COP position changes from the state where the COP position is located in the heel area of the sole to the toe area, it is determined that the timing of starting to swing forward the leg portion to which the walking assist device 2 is attached is determined. This makes it possible to accurately determine the start of swinging out of the leg portion to which the walking assist device 2 is attached, using an ergonomic characteristic that the COP position transitions from the heel region to the toe region toward the start of swinging out. Furthermore, the load of inertial force from the walking assist device 2 at the start of the swinging is reduced by increasing the tensile force f by the first pulling portion 33 at the start of the swinging that has been accurately determined, and the leg at the start of the swinging is reduced. The burden on the department can be reduced.
In the above embodiment, the walking assist device 2 is configured to calculate the COP position based on the load on the sole of the foot frame 25 detected by the load sensor 28 and transmit the calculated COP position to the control device 35. However, it is not limited to this. The computer 355 of the control device 35 may calculate the COP position based on the load on the sole of the foot frame 25 detected by the load sensor 28 of the walking assist device 2.
In the above embodiment, the computer 355 of the control device 35 is configured to include the operation determination unit 357 that determines the start of swinging out of the leg portion to which the walking assist device 2 is attached, but is not limited thereto. The structure which has the movement determination part 357 may be sufficient as the walking assistance apparatus 2. FIG. In this case, when the motion determination unit 357 of the walking assist device 2 determines the start of swinging out the leg, the determination result is obtained from the tensile force calculation unit 358 of the computer 355 of the control device 35 from the motion determination unit 357 of the walking assist device. The tensile force command value is increased according to the determination result of the start of swinging.
In the above-described embodiment, the tensile force calculation unit 358 may change the increase amount of the tensile force command value at the time of determining whether to start swinging out the leg according to the size of the toe region determination threshold value of the motion determination unit 357. . For example, when it is desired to reduce the inertial force at the start of the swing at an early timing, the toe region determination threshold value may be set smaller than normal. In this case, the tensile force calculation unit 358 may reduce the increase amount of the tensile force command value when determining the start of the swing. On the other hand, when it is desired to reduce the inertial force at the start of swinging at a late timing, the toe region determination threshold value may be set larger than usual. In this case, the tensile force calculation unit 358 may increase the amount of increase in the tensile force command value when it is determined to start swinging. Thereby, the inertial force at the time of starting the swing can be reduced more naturally.
In the above embodiment, the tensile force calculation unit 358 may increase the tensile force command value and then gradually decrease the tensile force command value in accordance with the determination of the start of swinging out the leg by the operation determination unit 357. For example, when the start of swinging is determined, the tensile force calculation unit 358 increases the tensile force command value in a pulse shape. Thereafter, the tensile force calculation unit 358 gradually decreases the tensile force command value, and returns to the normal tensile force command value when the swing period ends (when the foot frame 25 lands). In this case, the tensile force calculation unit 358 may increase the tensile force command value as the tensile force applied to the wire 36 of the walking assist device 2 increases during the swing period.
Thereby, it is possible to continuously apply a tensile force larger than usual in the swing-out direction during the swing-out period. Therefore, not only the load on the inertial force but also the burden on the entire swinging operation can be reduced.
In the above-described embodiment, the left and right frames 323 of the frame body 32 may be configured to be provided with the third tension portion 38 that pulls the walking assistance device upward and backward via the wire 39. The third tension portion 38 is a specific example of the second tension means. The resultant force of the vertically upward component of the tensile force by the first and third tension portions 33 and 38 supports the weight of the walking assist device 2. Then, the swinging out of the leg portion is assisted by the resultant force of the horizontal component of the tensile force by the first and third tension portions 33 and 38.
The tensile force calculation unit 358 generates a tensile force command value at which the resultant force of the vertically upward component of the tensile force by the first and third tensile units 33 and 38 becomes equal to the gravity of the walking assist device 2. 38. Further, the tensile force calculation unit 358 increases the tensile force command value for a certain period of time according to the determination of the start of leg swinging by the motion determination unit 357, and sends the increased tensile force command value to the first tension unit 33. Output. At this time, the tensile force calculation unit 358 outputs a normal tensile force command value (tensile force command value = constant) to the third tensile unit 38, but is not limited to this, and the tensile force with respect to the first tensile unit 33 is not limited thereto. You may make it fluctuate similarly to force command value.
That is, the tensile force calculation unit 358 changes the tensile force command value for the first and third tensile units 33 and 38 at the start of the swing, and the horizontal front component of the tensile force by the first and third tensile units 33 and 38 is changed. Increase. Thereby, the vertical upward component and the horizontal front component of the tensile force by the first and third tension portions 33 and 38 can be accurately controlled independently. For this reason, it is possible to more optimally reduce the load applied to the leg portion at the start of swinging out of the leg portion to which the walking assist device 2 is attached while reducing the gravity load of the walking assist device 2.
In the above embodiment, the training apparatus 3 may be configured without the frame body 32. In this case, the 1st and 2nd tension | tensile_strength part may be provided in the wall surface or the ceiling, for example.
In the said embodiment, although the wire 36 of the 1st tension | pulling part 33 is connected to the walking assistance apparatus 2, it is not restricted to this. For example, the wire 36 of the 1st tension | pulling part 33 may be the structure connected to a user's leg part through attachment tools, such as a belt and a ring. Furthermore, the wire 36 of the 1st tension | pulling part 33 may be the structure connected to the walking assistance apparatus 2 and a user's leg part.
In the said embodiment, although the user with which the walking assistance apparatus 2 was mounted | worn is the structure which walks on the treadmill 31, it is not restricted to this. A configuration in which the user wearing the walking assist device 2 walks on a stationary road surface and moves the first tension portion 33 according to the user's movement may be adopted.
DESCRIPTION OF SYMBOLS 1 Walking training apparatus, 2 Walking assistance apparatus, 3 Training apparatus, 21 Upper leg frame, 22 Knee joint part, 23 Lower leg frame, 24 Ankle joint part, 25 Foot frame, 26 Motor unit, 27 Adjustment mechanism, 28 Load sensor, 31 treadmill, 32 frame main body, 33 control device, 34 wire, 35 first tension part, 36 wire, 37 second tension part
A gait state determination device for determining a gait state of a user in which a walking assistance device that assists walking is attached to a leg,
Provided in the walking assist device, a foot mounting unit that is mounted on the user's foot, and a load detection unit that is provided in the foot mounting unit and detects a load generated on the sole of the user;
A load center calculating means for continuously calculating a load center position applied to the sole during the gait operation of the user based on the load of the sole detected by the load detecting means;
When the load center position calculated by the load center calculation means transitions from the state of being located in the heel area of the sole to the toe area, the start of swinging forward of the leg portion to which the walking assist device is attached is started. and operation judging means judges that the time, and the gait state determining apparatus Ru provided with,
A first pulling means for pulling the leg portion upward or forward directly or via the walking assist device;
Control means for controlling the first tension means so that a vertically upward component of the tensile force by the first tension means reduces the weight of the walking assistance device;
The movement determination means includes a leg portion to which the walking assist device is attached when the load center position changes from the sole region of the sole to the toe region and continues in the toe region for a predetermined time or more. Is determined to be the timing of starting to swing forward,
The control means causes the first tension means to generate an additional tensile force in addition to the tensile force when it is determined by the gait state determination device that the timing of starting swinging forward of the leg portion is reached.
A walking training apparatus characterized by that.
A walking training method for a walking training apparatus comprising:
The walking training method of the walking training apparatus characterized by the above-mentioned.
JP2015160697A 2015-08-17 2015-08-17 Walking training apparatus and walking training method thereof Active JP6554996B2 (en)
JP2015160697A JP6554996B2 (en) 2015-08-17 2015-08-17 Walking training apparatus and walking training method thereof
EP16179940.8A EP3132784A1 (en) 2015-08-17 2016-07-18 Gait state determination apparatus and walking training apparatus
US15/230,578 US20170049660A1 (en) 2015-08-17 2016-08-08 Gait state determination apparatus, gait state determination method, and walking training apparatus
CN201610643267.1A CN106466219A (en) 2015-08-17 2016-08-08 Gait state determination apparatus, meothod and walking training apparatus
KR1020160102335A KR20170021205A (en) 2015-08-17 2016-08-11 Gait state determination apparatus, gait state determination method, and walking training apparatus
KR1020170110846A KR102037099B1 (en) 2015-08-17 2017-08-31 Gait state determination apparatus, gait state determination method, and walking training apparatus
JP2017038658A JP2017038658A (en) 2017-02-23
JP6554996B2 true JP6554996B2 (en) 2019-08-07
ID=56418455
JP2015160697A Active JP6554996B2 (en) 2015-08-17 2015-08-17 Walking training apparatus and walking training method thereof
US (1) US20170049660A1 (en)
EP (1) EP3132784A1 (en)
JP (1) JP6554996B2 (en)
KR (1) KR20170021205A (en)
CN (1) CN106466219A (en)
JP6458795B2 (en) 2016-12-08 2019-01-30 トヨタ自動車株式会社 Walking training device
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2015-08-17 JP JP2015160697A patent/JP6554996B2/en active Active
2016-07-18 EP EP16179940.8A patent/EP3132784A1/en active Pending
2016-08-08 US US15/230,578 patent/US20170049660A1/en active Pending
2016-08-08 CN CN201610643267.1A patent/CN106466219A/en active Search and Examination
2016-08-11 KR KR1020160102335A patent/KR20170021205A/en not_active Application Discontinuation
JP2017038658A (en) 2017-02-23
EP3132784A1 (en) 2017-02-22
US20170049660A1 (en) 2017-02-23
CN106466219A (en) 2017-03-01
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2019-05-07 A911 Transfer of reconsideration by examiner before appeal (zenchi)
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