CN106466219B - 步态状态确定设备、步态状态确定方法以及步行训练设备 - Google Patents
步态状态确定设备、步态状态确定方法以及步行训练设备 Download PDFInfo
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- CN106466219B CN106466219B CN201610643267.1A CN201610643267A CN106466219B CN 106466219 B CN106466219 B CN 106466219B CN 201610643267 A CN201610643267 A CN 201610643267A CN 106466219 B CN106466219 B CN 106466219B
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- walking assistance
- leg
- pulling
- sole
- user
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- 238000012549 training Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000004364 calculation method Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 description 109
- 230000009471 action Effects 0.000 description 30
- 210000002683 foot Anatomy 0.000 description 18
- 210000000689 upper leg Anatomy 0.000 description 9
- 230000005484 gravity Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 238000004804 winding Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Abstract
本申请公开了步态状态确定设备、步态状态确定方法以及步行训练设备。该步态状态确定设备包括:布置在足部附接部分中的压力检测装置,压力检测装置被配置成检测施加在用户的足底的压力;压力中心计算装置,被配置成基于由压力检测装置检测的施加在足底上的压力,在用户的步态动作期间连续地计算施加在足底上的压力的中心位置;以及动作确定装置,被配置成在由压力中心计算装置计算的压力的中心位置从足底的足跟区域中的位置移动至其足尖区域并且保持在足尖区域中达预定时间或更长时,确定这是附接有步行辅助设备的腿部向前摆动的开始的时刻。
Description
技术领域
本发明涉及能够确定用户的步态状态的步态状态确定设备、步态状态确定方法以及步行训练设备。
背景技术
例如,本申请的申请人已经提出一种步行训练设备,该步行训练设备包括附接至用户的腿部并且辅助用户所进行的步行的步行辅助设备(参见日本未经审查的专利申请公开第2012-95793号)。
在本文中,假设一种配置,在该配置中,进一步添加了用于向上和向前牵拉步行辅助设备和用户腿部中的一个的第一牵拉装置,以及用于向上和向前牵拉步行辅助设备和用户腿部中的一个的第二牵拉装置,并且由第一牵拉装置和第二牵拉装置施加的牵拉力的垂直向上分量的合力大约等于步行辅助设备的重量,使得减小由施加在用户腿部上的步行辅助设备的重力所引起的负荷。发明人已经发现在该配置中会发生以下问题。也就是说,在步行中腿部摆动的开始的时刻也是用户将他/她的腿部运动从向后运动反转成向前运动的时刻。因此,附接有步行辅助设备的腿部在该反转时刻接收来自步行辅助设备的向后惯性力。然而,虽然上述步行训练设备减小了由步行辅助设备的重力引起的对用户步行的负荷,但是它没有减小由惯性力引起的上述负荷。因此,在附接有步行辅助设备的腿部的摆动开始时,过量的负荷被施加在该腿部上。此外,当如上述配置中那样减小在垂直向上方向上由重力引起的负荷时,除了向后惯性力以外,用于将腿部从地面抬起(向上提腿)的垂直方向上的惯性力也作为腿部上的负荷。
因此,为了减小由惯性力引起的这种负荷,优选的是,准确确定附接有步行辅助设备的腿部的摆动的开始,以及例如,增大由牵拉装置施加的牵拉力以在腿部的摆动开始时减小惯性力。然而,在上述步行训练设备中,没有确定附接有步行辅助设备的腿部的摆动的开始,并且没有减小上述负荷。
发明内容
考虑到上述问题做出了本发明,并且本发明的主要目的之一是提供能够准确确定附接有步行辅助设备的腿部的摆动的开始的步态状态确定设备、步态状态确定方法,以及步行训练设备。
用以实现前述目的的本发明的第一示例性方面是确定用户的步态状态的步态状态确定设备,该用户具有附接至他/她的腿部的步行辅助设备,该步行辅助设备被配置成辅助用户的步行并且在其中布置有足部附接部分,该足部附接部分被附接至用户的足部,该步态状态确定设备包括:布置在足部附接部分中的压力检测装置,该压力检测装置被配置成检测施加在用户的足底上的压力;压力中心计算装置,其被配置成基于由压力检测装置检测的施加在足底上的压力在用户的步态动作期间连续地计算施加在足底上的压力的中心位置;以及动作确定装置,其被配置成在由压力中心计算装置计算的压力的中心位置从足底的足跟区域中的位置移动至足底的足尖区域并且保持在所述足尖区域中达预定时间或更长时,确定这是附接有步行辅助设备的腿部向前摆动的开始的时刻。根据该方面,能够准确确定附接有步行辅助设备的腿部的摆动的开始。
根据该方面,在压力的中心位置保持在足尖区域中达预定时间或更长的稳定状态下,能够确定腿部的摆动的开始。因此,能够更准确地确定附接有步行辅助设备的腿部的向前摆动的开始。
用以实现前述目的的本发明的另一示例性方面可以是用于确定用户的步态状态的步态状态确定方法,该用户具有附接至他/她的腿部的步行辅助设备,该步行辅助设备被配置成辅助用户的步行,该步态状态确定方法包括:检测施加在附接有步行辅助设备的腿部的足部的足底上的压力的步骤,足部附接部分被配置成附接至用户的足部;基于所检测的施加在足底上的压力在用户的步态动作期间连续地计算施加在足底上的压力的中心位置的步骤;以及当所计算的压力的中心位置从足底的足跟区域中的位置移动至足底的足尖区域并且保持在所述足尖区域中达预定时间或更长时,确定这是附接有步行辅助设备的腿部向前摆动的开始的时刻的步骤。根据该方面,能够准确确定附接有步行辅助设备的腿部的摆动的开始。
本发明的又一示例性方面可以是步行训练设备,该步行训练设备包括:上述步态状态确定设备;第一牵拉装置,其被配置成通过步行辅助设备向前和向上牵拉附接有步行辅助设备的腿部;以及控制装置,其被配置成控制第一牵拉装置,使得由第一牵拉装置施加的牵拉力减小由步行辅助设备的重量引起的负荷,并且辅助附接有步行辅助设备的腿部的向前摆动的开始;其中,控制装置在步态状态确定设备确定这是附接有步行辅助设备的腿部向前摆动的开始的时刻时,使第一牵拉装置除了生成该牵拉力之外还生成另外的牵拉力。根据该方面,通过在腿部的摆动开始时增大由第一牵拉装置施加的牵拉力,能够在准确确定的腿部的摆动开始时减小惯性力。
根据本发明,可以提供能够准确确定附接有步行辅助设备的腿部的摆动的开始的步态状态确定设备、步态状态确定方法,以及步行训练设备。
本发明的以上和其他目的、特征以及优势将根据下文中给出的详细描述以及仅作为图示说明给出的附图来更全面地理解,因此不应被视为对本发明进行限制。
附图说明
图1是示出根据本发明的示例性实施方式的步行训练设备的示意性配置的透视图;
图2是示出步行辅助设备的示意性配置的透视图;
图3示出了设置在足底框架的足尖侧和足跟侧的压力传感器;
图4是示出根据本发明的示例性实施方式的控制装置的示意性系统配置的框图;
图5是示出根据本发明的示例性实施方式的计算机的示意性系统配置的框图;
图6示出了足底的足尖区域、中间区域和足跟区域;
图7是示出根据步态状态确定方法的确定流程的示例的流程图;
图8示出了腿部摆动的开始的时刻的示例;
图9是示出根据步态状态确定方法的确定流程的示例的流程图;以及
图10示出了腿部摆动的开始的时刻的示例。
具体实施方式
参考附图,在下文中说明根据本发明的示例性实施方式。
图1是示出根据本发明的示例性实施方式的步行训练设备的示意性配置的透视图。根据该示例性实施方式的步行训练设备1例如是以下设备,用户(诸如患有由中风引起的偏瘫的病人)通过该设备进行步行训练。步行训练设备1包括附接至用户的腿部的步行辅助设备2和训练设备3,其中,用户通过它们进行步行训练。
步行辅助设备2例如被附接至进行步行训练的用户的患病腿部,并且辅助该用户的步行(图2)。步行辅助设备2包括大腿框架21、通过膝关节部分22连接至大腿框架21的小腿框架23、通过踝关节部分24连接至小腿框架23的足底框架(足部附接部分的具体示例)25、旋转地驱动膝关节部分22的电动机单元26、以及调节踝关节部分24的可移动范围的调节机构27。注意到,步行辅助设备2的上述配置仅仅是一个示例,并且步行辅助设备2的配置不限于这样的示例。例如,步行辅助设备2可以包括旋转地驱动踝关节部分24的另一电动机单元。
一对压力传感器28被设置在足底框架25的足尖侧和足跟侧中的每侧(图3)。压力传感器28是压力检测装置的具体示例。压力传感器28中的每一个例如是检测施加在足底框架25的足底上的垂直压力的垂直压力传感器。注意到,倘若压力传感器28能够准确确定施加在足底上的压力的中心,则可以任意地确定设置在足底框架25中的压力传感器28的数目和位置。例如,需要布置至少三个压力传感器28,并且它们不应当被排列成直线。对于压力中心确定,压力传感器28优选地被布置成使得用直线连接所布置的压力传感器28而形成的多边形的面积变得更大。以这种方式,能够在宽广区域上准确检测压力中心。
步行辅助设备2是压力中心计算装置的具体示例,并且基于由压力传感器28检测的足底框架25的足底上的压力,在用户的步态动作期间连续地计算足底的COP(压力中心)的位置(在下文中也称为“COP位置”)。
例如,如图3中所示,足底框架25的足底的中心位置被定义为二维XY坐标系的原点,并且足尖侧的第一压力传感器28、足尖侧的第二压力传感器28、足跟侧的第三压力传感器以及足跟侧的第四压力传感器的位置被分别表示为(x1,y1)、(x2,y2)、(x3,y3)和(x4,y4)。此外,施加在第一至第四压力传感器28上的压力的大小由Ni(i=1至4)表示。例如,步行辅助设备2通过使用下面所示的表达式来计算COP位置(xCOP,yCOP)。
[表达式1]
用于计算COP位置的上述方法仅仅是一个示例,并且计算方法不限于该示例。例如,替代于设置压力传感器28,可以在足底框架25的足底上设置用于检测足底框架25的足底上的压力分布的压力分布传感器。步行辅助设备2可以基于由压力分布传感器计算的足底上的压力分布来计算COP位置。
大腿框架21被附接至用户腿部的大腿,并且小腿框架23被附接至用户腿部的小腿。大腿框架21例如配备有用于固定大腿的大腿绑具(harness)212。大腿框架21配备有用于与第一牵拉单元33(稍后描述)的拉线36连接的水平延伸且水平伸长的第一框架211。
注意到,第一牵拉单元33的上述连接部分仅仅是一个示例,并且第一牵拉单元33的连接不限于这样的示例。例如,第一牵拉单元33的拉线36可以连接至大腿绑具212,并且第一牵拉单元33的牵拉点能够布置在步行辅助设备2中的任意位置处。
电动机单元26根据用户的步行动作来旋转地驱动膝关节部分22,从而辅助用户的步行。注意到,步行辅助设备2的上述配置仅仅是一个示例,并且步行辅助设备2的配置不限于这样的示例。可以应用能够被附接至用户腿部并且辅助用户的步行的任何步行辅助设备。
训练设备3包括踏车(treadmill)31、框架主体32、第一牵拉单元33和第二牵拉单元34、以及控制装置35。踏车31使环状带311回转。用户走上带311,并且根据带311的移动在带311上步行。通过这样做,用户进行步行训练。
框架主体32包括垂直布置在踏车31上的两对支柱框架321、沿纵向方向延伸并且连接至相应的支柱框架321的一对纵向框架322、以及沿横向方向延伸并且连接至每个纵向框架322的三个横向框架323。注意到,上述框架主体32的配置不限于该示例。倘若第一牵拉单元和第二牵拉单元(稍后描述)能够被适当地固定至框架主体32,则框架主体32能够采用任何框架结构。
在前部横向框架323中,设置了向上和向前牵拉拉线36的第一牵拉单元33。第一牵拉单元33是第一牵拉装置的具体示例。第一牵拉单元33包括:例如,用于缠绕拉线36和倒回拉线36的机构、驱动该机构的电动机等等。由第一牵拉单元33牵拉的拉线36的一端连接至步行辅助设备2。第一牵拉单元33通过拉线36向上和向前牵拉步行辅助设备2。
由第一牵拉单元33施加的牵拉力的垂直向上分量支撑步行辅助设备2的重量。由第一牵拉单元33施加的牵拉力的水平向前分量辅助腿部摆动的开始。以这种方式,能够减小步行训练中用户的步行负荷。
第二牵拉单元34被布置在后部横向框架323中,并向上牵拉拉线37。拉线37的一端连接至例如被附接至用户腰部处或腰部附近的带子。第二牵拉单元34包括:例如,用于缠绕拉线37和倒回拉线37的机构、驱动该机构的电动机等等。第二牵拉单元34通过拉线37向上牵拉用户的腰部。以这种方式,能够减小由用户自身的重量引起的用户上的负荷。第一牵拉单元33和第二牵拉单元34中的每一个通过布线等连接至控制装置35。
控制装置35控制由第一牵拉单元33和第二牵拉单元34施加的牵拉力中的每个牵拉力、踏车31的驱动、以及步行辅助设备2。例如,控制装置35由主要使用微计算机的硬件构成,该微计算机包括:执行算法处理、控制处理等等的CPU(中央处理单元);存储由CPU执行的算法程序、控制程序等等的ROM(只读存储器);存储各种数据等等的RAM(随机存取存储器);以及从外部接收信号和输出信号的接口单元(I/F)。CPU、ROM、RAM和接口单元通过数据总线等彼此连接。
图4是示出根据该示例性实施方式的控制装置的示意性系统配置的框图。
控制装置35包括:例如,控制第一牵拉单元33的腿部负荷减轻控制单元351、控制第二牵拉单元34的人体负荷减轻控制单元352、控制步行辅助设备2的腿部控制单元353、控制踏车31的踏车控制单元354、控制这些单元的计算机或PC(个人电脑)355、以及用于操作计算机355的操作面板356。操作面板356显示诸如训练指令、训练菜单和训练信息(如步行速度和生物信息)的信息。操作面板356例如被形成为触摸面板,并且用户能够通过操作面板356输入各种类型的信息(由第一牵拉单元33和第二牵拉单元34施加的牵拉力)。
附带地,用户的步态动作中腿部摆动的开始的时刻也是用户将他/她的腿部动作从向后动作反转成向前动作的时刻。因此,附接有步行辅助设备的腿部接收来自步行辅助设备的向后惯性力,并且因此在该反转时刻负荷被施加在腿部上。此外,当用户向上抬起他/她的腿部时,向下惯性力也作为在用户开始摆动腿部时所引起的负荷。
因此,为了减小由惯性力引起的这种负荷,优选的是,准确确定附接有步行辅助设备的腿部的摆动的开始,并且增大由牵拉装置施加的牵拉力以在腿部的摆动开始时减小惯性力。
为了这个目的,在该示例性实施方式中,关注了以下人体工学特征:在人类正在步行时、在从足部着地时到足部开始摆动时的时间段期间,COP位置从足跟区域移动至足尖区域。通过使用该人体工学特征,准确确定了足部的摆动的开始。也就是说,在根据该示例性实施方式的步态状态确定设备中,检测了施加在步行辅助设备2的足底框架25的足底上的压力,并且基于所检测的足底上的压力来计算足底上的COP位置。然后,当所计算的COP位置从足底的足跟区域中的位置移动至足底的足尖区域时,确定这是附接有步行辅助设备2的腿部的向前摆动的开始时刻。以这种方式,能够确定附接有步行辅助设备2的腿部的摆动的开始。此外,通过在腿部的摆动开始时增大由第一牵拉单元33施加的牵拉力f并且从而生成另外的牵拉力,可以在准确确定的腿部的摆动开始时减小惯性力。
图5是示出根据该示例性实施方式的计算机的示意性系统配置的框图。根据该示例性实施方式的计算机355包括:确定附接有步行辅助设备2的腿部的摆动的开始的动作确定单元357,以及在腿部的摆动开始时增大由第一牵拉单元33施加的牵拉力f的牵拉力计算单元358。
动作确定单元357是动作确定装置的具体示例。动作确定单元357确定由步行辅助设备2计算的COP位置是否从足底框架25的足底的足跟区域移动至足尖区域,并且从而确定附接有步行辅助设备2的腿部的向前摆动的开始。
接下来,详细说明了用于准确确定附接有步行辅助设备的腿部的向前摆动的开始的步态状态确定方法。
例如,如图6中所示,定义了XY坐标系,在XY坐标系中,足底框架25的足底的中心被定义为该坐标系的原点。然后,在XY坐标系中的足底上定义足尖区域、中间区域和足跟区域中的每一个。在足底上,x坐标值等于或大于足尖区域确定阈值的区域是足尖区域(阴影区)。x坐标值等于或小于足跟区域确定阈值的区域是足跟区域(另一阴影区)。x坐标值大于足跟区域确定阈值且小于足尖区域确定阈值的区域(即足尖区域与足跟区域之间的区域)是中间区域。注意到,例如,通过实验事先获得上述足尖区域确定阈值和足跟区域确定阈值,并且将其存储在前述ROM、RAM等中。此外,用户能够通过例如操作面板356等来任意定义/改变足尖区域确定阈值和足跟区域确定阈值。
当例如由步行辅助设备2计算的COP位置在上述XY坐标系中从足跟区域移动至中间区域且随后进入足尖区域时,动作确定单元357确定用户已经开始向前摆动他/她的附接有步行辅助设备2的腿部。
图7是示出根据步态状态确定方法的确定流程的示例的流程图。
动作确定单元357基于由步行辅助设备2的压力传感器28检测的足底框架25的足底上的压力,来确定附接有步行辅助设备2的腿部是否处于腿部站立状态(步骤S101)。
当动作确定单元357确定附接有步行辅助设备2的腿部处于腿部站立状态时(步骤S101处的“是”),动作确定单元357确定COP位置xcop是否已经从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值(即,COP位置是否已经从足跟区域移动且进入足尖区域)(步骤S102)。另一方面,当动作确定单元357确定附接有步行辅助设备2的腿部不处于腿部站立状态(即,处于腿部空载状态)时(步骤S101处的“否”),动作确定单元357进行至稍后描述的步骤S104。
例如,如图8中所示,当动作确定单元357确定COP位置xcop已经从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值时(步骤S102处的“是”),动作确定单元357确定用户已经开始向前摆动他/她的附接有步行辅助设备2的腿部(步骤S103)。另一方面,当动作确定单元357确定COP位置xcop尚未从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值时(步骤S102处的“否”),动作确定单元357确定用户尚未开始向前摆动他/她的附接有步行辅助设备2的腿部(步骤S104)。
注意到,在由步行辅助设备2计算的COP位置已经从足跟区域移动并进入足尖区域、并且保持在足尖区域中达预定时间或更长时,动作确定单元357可以确定用户已经开始向前摆动他/她的附接有步行辅助设备2的腿部。例如,存在着因为COP位置随机漂移或摇摆所以COP位置不稳定的情况,诸如用户以摆动方式步行的情况。即使在这样的情况下,在COP位置已经从足跟区域移动并进入足尖区域、并且保持在足尖区域中达预定时间或更长的稳定状态下,也能够确定腿部的摆动的开始。以这种方式,能够更准确地确定附接有步行辅助设备2的腿部的向前摆动的开始。注意到,例如,根据压力传感器的传感器特性和/或用户的步态状态事先确定前述预定时间,并且将其存储在ROM、RAM等中。此外,用户能够例如通过操作面板356等来任意地定义/改变前述预定时间。
图9是示出根据上述步态状态确定方法的确定流程的示例的流程图。
动作确定单元357基于由步行辅助设备2的压力传感器28检测的足底框架25的足底上的压力,来确定附接有步行辅助设备2的腿部是否处于腿部站立状态(步骤S201)。
当动作确定单元357确定附接有步行辅助设备2的腿部处于腿部站立状态时(步骤S201处的“是”),动作确定单元357确定COP位置xcop是否已经从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值(步骤S202)。另一方面,当动作确定单元357确定附接有步行辅助设备2的腿部不处于腿部站立状态时(步骤S201处的“否”),动作确定单元357进行至稍后描述的步骤S205。
当动作确定单元357确定COP位置xcop已经从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值时(步骤S202处的“是”),动作确定单元357确定COP位置xcop是否已经持续具有等于或大于足尖区域确定阈值的值(即,保持在足尖区域中)达预定时间或更长(步骤S203)。另一方面,当动作确定单元357确定COP位置xcop尚未从小于足跟区域确定阈值的值变成等于或大于足尖区域确定阈值的值时(步骤S202处的“否”),动作确定单元357进行至稍后描述的步骤S205。
例如,如图10中所示,当动作确定单元357确定COP位置xcop已经持续具有等于或大于足尖区域确定阈值的值达预定时间或更长时(步骤S203处的“是”),动作确定单元357确定用户已经开始向前摆动他/她的附接有步行辅助设备2的腿部(步骤S204)。另一方面,当动作确定单元357确定COP位置xcop不是持续具有等于或大于足尖区域确定阈值的值达预定时间或更长时(步骤S203处的“否”),动作确定单元357确定用户尚未开始向前摆动他/她的附接有步行辅助设备2的腿部(步骤S205)。
典型地,牵拉力计算单元358控制第一牵拉单元33,使得由第一牵拉单元33施加的牵拉力f的垂直向上分量f2减小步行辅助设备的重力。例如,牵拉力计算单元358控制第一牵拉单元33,以使得由第一牵拉单元33施加的牵拉力f的垂直向上分量f2等于步行辅助设备的重力或者等于步行辅助设备的重力的一半。
此外,当动作确定单元357确定用户已经开始摆动他/她的附接有步行辅助设备2的腿部时,牵拉力计算单元358控制第一牵拉单元33,使得第一牵拉单元33增大其牵拉力f。
如上所述,根据该示例性实施方式,能够通过控制第一牵拉单元33使得由第一牵拉单元33施加的牵拉力f的垂直向上分量f2减小步行辅助设备2的重力来减小由步行辅助设备2的重力引起的对用户步行的负荷。此外,根据该示例性实施方式,准确确定了腿部的摆动的开始。然后,增大由第一牵拉单元33施加的牵拉力f,并且因此在确定的腿部摆动的开始时增大其水平向前分量f1,使得能够在腿部摆动的开始时减小由步行辅助设备2的惯性力引起的负荷。
牵拉力计算单元358计算用于第一牵拉单元33的牵拉力命令值,并且将所计算的牵拉力命令值输出至第一牵拉单元33。第一牵拉单元33根据从牵拉力计算单元358输出的牵拉力命令值来牵拉步行辅助设备2的拉线36。此时,由第一牵拉单元33施加的牵拉力f的垂直向上分量f2支撑步行辅助设备2的重量。由第一牵拉单元33施加的牵拉力f的水平向前分量f1辅助腿部摆动的开始。也就是说,牵拉力命令值被设置成使得,对于用户的正常步行动作,牵拉力f的垂直向上分量f2支撑步行辅助设备2的重量,并且牵拉力f的水平向前分量f1最佳地辅助腿部摆动的开始。
牵拉力计算单元358根据由动作确定单元357做出的对腿部摆动的开始的确定例如以脉冲方式在短时间内急剧增大牵拉力命令值。注意到,例如,可以基于根据踏车31的带311的移动速度而计算的步行辅助设备2的惯性力来设置牵拉力命令值的增量。当在检测到腿部摆动的开始之后已经过去了特定时间时,牵拉力计算单元358将正常牵拉力命令值输出至第一牵拉单元33。
如上所述,在该示例性实施方式中,检测到施加在步行辅助设备2的足底框架25的足底上的压力,并且基于所检测的足底上的压力来计算足底上的COP位置。然后,当所计算的COP位置从足底的足跟区域中的位置移动至其足尖区域时,确定这是附接有步行辅助设备2的腿部的向前摆动的开始时刻。以这种方式,通过使用以下人体工学特性能够准确确定附接有步行辅助设备2的腿部的摆动的开始:在腿部开始摆动时COP位置从足跟区域移动至足尖区域。此外,通过在腿部的摆动开始时增大由第一牵拉单元33施加的牵拉力f,能够减小由步行辅助设备2的惯性力引起的负荷,并且从而减小在准确确定的腿部的摆动开始时施加在腿部上的负荷。
注意到,本发明不限于上述示例性实施方式,并且在不背离本发明的精神和范围的情况下,能够做出各种修改。
在上述示例性实施方式中,步行辅助设备2基于由压力传感器28检测的足底框架25的足底上的压力来计算COP位置,并且将所计算的COP位置传输至控制装置35。然而,本发明不限于这样的配置。控制装置35的计算机355可以基于由步行辅助设备2的压力传感器28检测的足底框架25的足底上的压力来计算COP位置。
在上述示例性实施方式中,控制装置35的计算机355包括用于确定附接有步行辅助设备2的腿部的摆动的开始的动作确定单元357。然而,本发明不限于这样的配置。步行辅助设备2可以包括动作确定单元357。在这种情况下,当步行辅助设备2的动作确定单元357确定腿部的摆动的开始时,控制装置35的计算机355的牵拉力计算单元358根据从步行辅助设备的动作确定单元357接收的摆动开始确定结果来增大牵拉力命令值。
在上述示例性实施方式中,牵拉力计算单元358可以根据在确定腿部摆动的开始时动作确定单元357的足尖区域确定阈值的大小来改变牵拉力命令值的增量。例如,存在着期望在较早时刻减小腿部摆动的开始时的惯性力的情况,因此,足尖区域确定阈值被设置成小于通常值的值。在这种情况下,牵拉力计算单元358可以在确定腿部摆动的开始时减小牵拉力命令值的增量。相反地,存在着期望在较晚时刻减小腿部摆动的开始时的惯性力的情况,因此,足尖区域确定阈值被设置成大于通常值的值。在这种情况下,牵拉力计算单元358可以在确定腿部摆动的开始时增大牵拉力命令值的增量。以这种方式,能够以更自然的方式减小在腿部摆动的开始时的惯性力。
在上述示例性实施方式中,牵拉力计算单元358可以根据由动作确定单元357做出的对腿部摆动的开始的确定来增大牵拉力命令值,并且然后逐渐减小牵拉力命令值。例如,牵拉力计算单元358在确定腿部摆动的开始时以脉冲方式增大牵拉力命令值。之后,牵拉力计算单元358逐渐减小牵拉力命令值,并且在摆动时间段已经完成时(当足底框架25落到地面上时),将牵拉力命令值返回到正常值。在这种情况下,随着施加到步行辅助设备2的拉线36上的牵拉力在该摆动时间段期间增大,牵拉力计算单元358可以增大牵拉力命令值。
以这种方式,能够在摆动时间段期间在摆动方向上持续添加大于正常牵拉力的牵拉力。因此,不仅能够减小由惯性力引起的负荷,还能减小摆动动作的总负荷。
上述示例性实施方式可以具有以下配置:在该配置中,通过拉线39向上和向后牵拉步行辅助设备的第三牵拉单元38被设置在框架主体32的横向框架323中。第三牵拉单元38是第二牵拉装置的具体示例。由第一牵拉单元33和第三牵拉单元38施加的牵拉力的垂直向上分量的合力支撑步行辅助设备2的重量。此外,由第一牵拉单元33和第三牵拉单元38施加的牵拉力的水平分量的合力辅助腿部的摆动的开始。
牵拉力计算单元358将牵拉力命令值输出至第一牵拉单元33和第三牵拉单元38,该牵拉力命令值使第一牵拉单元33和第三牵拉单元38所施加的牵拉力的垂直向上分量的合力等于步行辅助设备2的重力。此外,牵拉力计算单元358根据由动作确定单元357做出的对腿部摆动的开始的确定,将牵拉力命令值从其正常值增大达特定时间段,并且将增大的牵拉力命令值输出至第一牵拉单元33。此时,牵拉力计算单元358将正常的牵拉力命令值(牵拉力命令值=常数)输出至第三牵拉单元38。然而,本发明不限于这样的配置和方法。
也就是说,可以通过与用于第一牵拉单元33的牵拉力命令值类似的方式来改变用于第三牵拉单元38的牵拉力命令值。换言之,牵拉力计算单元358改变用于第一牵拉单元33和第三牵拉单元38的牵拉力命令值,并且从而在腿部的摆动开始时增大由第一牵拉单元33和第三牵拉单元38施加的牵拉力的水平向前分量。以这种方式,能够彼此独立地准确地控制由第一牵拉单元33和第三牵拉单元38施加的牵拉力的垂直向上分量和水平向前分量。因此,在减小由步行辅助设备的重力引起的负荷的同时,能够在腿部的摆动开始时以更优化的方式减小施加在附接有步行辅助设备2的腿部的负荷。
在上述示例性实施方式中,训练设备3可以不包括框架主体32。在这种情况下,第一牵拉单元和第二牵拉单元例如可以被布置(或安装)在墙壁或屋顶上。
虽然在上述示例性实施方式中第一牵拉单元33的拉线36被连接至步行辅助设备2,但是本发明不限于这样的配置。例如,第一牵拉单元33的拉线36可以通过固定物(诸如带和环)而连接至用户的腿部。此外,第一牵拉单元33的拉线36可以连接至步行辅助设备2和用户的腿部两者。
虽然在上述示例性实施方式中装备有步行辅助设备2的用户在踏车31上步行,但是本发明不限于这样的配置。本发明可以应用于以下配置:在该配置中,装备有步行辅助设备2的用户在静止路面上步行,并且第一牵拉单元33根据用户的移动而移动。
根据如此描述的本发明,明显的是,本发明的各实施方式可以以许多方式改变。这样的改变不被认为是背离本发明的精神和范围,并且对于本领域技术人员而言明显的所有这样的修改都意图包括在所附权利要求的范围内。
Claims (3)
1.一种步行训练设备,包括:
确定用户的步态状态的步态状态确定设备,所述用户具有附接至他/她的腿部的步行辅助设备,所述步行辅助设备被配置成辅助用户的步行并且在其中布置有足部附接部分,所述足部附接部分被附接至用户的足部,
其中,所述步态状态确定设备包括:
压力检测装置,其被布置在所述足部附接部分中,并且被配置成检测施加在所述用户的足底上的压力;
压力中心计算装置,其被配置成基于由所述压力检测装置检测的施加在所述足底上的压力,在用户的步态动作期间连续地计算施加在所述足底上的压力的中心位置;以及
动作确定装置,其被配置成在由所述压力中心计算装置计算的所述压力的中心位置从所述足底的足跟区域中的位置移动至所述足底的足尖区域并且保持在所述足尖区域中达预定时间或更长时,确定这是附接有所述步行辅助设备的腿部向前摆动的开始的时刻,
第一牵拉装置,其被配置成通过所述步行辅助设备向上和向前牵拉附接有所述步行辅助设备的腿部;以及
控制装置,其被配置成控制所述第一牵拉装置,使得由所述第一牵拉装置施加的牵拉力减小由所述步行辅助设备的重量引起的负荷,并且辅助附接有所述步行辅助设备的腿部的向前摆动的开始,
其中,所述控制装置在所述步态状态确定设备确定这是附接有所述步行辅助设备的腿部向前摆动的开始的时刻时,使所述第一牵拉装置除了生成所述牵拉力之外还生成另外的牵拉力。
2.根据权利要求1所述的步行训练设备,还包括第二牵拉装置,其被配置成在所述控制装置的控制下向上牵拉所述用户的腰部,以便减小由所述用户自身的重量引起的负荷。
3.一种步行训练方法,包括:
确定用户的步态状态,所述用户具有附接至他/她的腿部的步行辅助设备,所述步行辅助设备被配置成辅助用户的步行,
其中,确定步态状态的步骤包括:
检测施加在附接有所述步行辅助设备的腿部的足部的足底上的压力;
基于所检测的施加在所述足底上的压力在所述用户的步态动作期间连续地计算施加在所述足底上的压力的中心位置;以及
当所计算的所述压力的中心位置从所述足底的足跟区域中的位置移动至所述足底的足尖区域并且保持在所述足尖区域中达预定时间或更长时,确定这是附接有所述步行辅助设备的腿部向前摆动的开始的时刻,
通过所述步行辅助设备向上和向前牵拉附接有所述步行辅助设备的腿部;
控制牵拉力以减小由所述步行辅助设备的重量引起的负荷,并且辅助附接有所述步行辅助设备的腿部的向前摆动的开始;以及
在确定这是附接有所述步行辅助设备的腿部向前摆动的开始的时刻时,除了生成所述牵拉力之外还生成另外的牵拉力。
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