CN106491311A - 行走训练装置和行走训练方法 - Google Patents
行走训练装置和行走训练方法 Download PDFInfo
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- CN106491311A CN106491311A CN201610670223.8A CN201610670223A CN106491311A CN 106491311 A CN106491311 A CN 106491311A CN 201610670223 A CN201610670223 A CN 201610670223A CN 106491311 A CN106491311 A CN 106491311A
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- 210000002683 foot Anatomy 0.000 description 34
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- 210000001699 lower leg Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 5
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- 206010019468 Hemiplegia Diseases 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000000205 computational method Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
本申请公开了行走训练装置和行走训练方法,该行走训练装置包括:显示部件,其被布置在行走受训者前方;第一图像拾取部件,其用于从位于行走受训者上方的视点拍摄行走受训者的图像;以及显示控制部件,其用于对显示部件进行控制,使得目标着地点连同由第一图像拾取部件拍摄的行走受训者的图像一起显示在显示部件的显示屏幕上,目标着地点是行走受训者使他/她的脚下一步应该着地的点。显示控制部件对显示部件进行控制,使得在显示部件的显示屏幕上除了显示脚的目标着地点以外还显示中心线,所述中心线指示行走受训者在左/右方向上的中心位置。
Description
技术领域
本发明涉及行走训练装置和行走训练方法,用户通过所述行走训练装置和行走训练方法进行行走训练。
背景技术
已知下述行走训练装置,该行走训练装置包括:显示部件,其被布置在进行行走训练的人(在下文中被称为“行走受训者”)的前方;图像拾取部件,其用于从位于行走受训者上方的视点拍摄该行走受训者的图像;以及显示控制部件,其用于将行走受训者的脚的目标着地点连同由图像拾取部件拍摄的行走受训者的图像一起显示在显示部件的显示屏幕上(例如,参见日本未审查专利申请公布No.2006-204730)。
顺便提及,诸如偏瘫的病人的行走受训者的类型在行走训练期间往往以他们的身体向左倾斜或向右倾斜的状态行走。然而,在行走训练期间行走受训者自身几乎不会注意到他/她的身体的这种左/右倾斜。为了解决此问题,可以设想例如,可以在分开设置的显示部件上显示从位于行走受训者前方或后方的视点拍摄的行走受训者的图像,使得行走受训者能够检查他/她的身体的左/右倾斜。然而,在这样的情况下,行走受训者在不同显示部件上检查目标着地点以及他/她的身体的左/右倾斜是件麻烦的事情。
发明内容
鉴于上述问题作出了本发明,并且本发明的主要目的之一是提供行走训练装置和行走训练方法,用于允许行走受训者通过查看显示在他/她的脚的目标着地点附近的中心线来容易地检查他/她的身体的左/右倾斜。
为了实现上述目的,本发明的第一示例性方面是一种行走训练装置,其包括:显示部件,其被布置在行走受训者前方;第一图像拾取部件,其用于从位于行走受训者上方的视点拍摄行走受训者的图像;以及显示控制部件,其用于将目标着地点连同由第一图像拾取部件拍摄的行走受训者的图像一起显示在显示部件的显示屏幕上,目标着地点是行走受训者使他/她的脚下一步应该着地的点,其中显示控制部件在显示部件的显示屏幕上除了显示脚的目标着地点以外还显示中心线,中心线指示行走受训者在左/右方向上的中心位置。根据该方面,行走受训者能够通过查看显示在他/她的脚的目标着地点附近的中心线来容易地检查他/她的身体的左/右倾斜。
在该方面,行走训练装置还可以包括倾斜计算部件,其用于基于以下部件中至少之一检测的信息来计算行走受训者的身体的左/右倾斜量和左/右倾斜方向:压力传感器,其对行走受训者的脚底压力进行检测;角速度传感器,其被附接至行走受训者;第二图像拾取部件,其用于从行走受训者前方或后方拍摄行走受训者的图像;以及第一图像拾取部件,并且显示控制部件可以在显示部件的显示屏幕上靠近中心线显示以下标记,该标记指示由倾斜计算部件计算的倾斜量以及倾斜方向或倾斜反方向。
根据该方面,由于行走受训者仅通过查看显示在脚的目标着地点和中心线附近的标记就能够在视觉上识别他/她的身体的左/右倾斜量和左/右倾斜方向,所以行走受训者能够更容易地检查他/她的身体的左/右倾斜。
在该方面,行走训练装置还可以包括以下部件中至少之一:声音输出部件,其用于根据由倾斜计算部件计算的倾斜量和倾斜方向来改变声音输出;振动部件,其用于改变提供给行走受训者的振动;以及光学输出部件,其用于改变光学输出。根据该方面,由于行走受训者能够通过声音、振动、光等更直观地识别他/她的身体的左/右倾斜量和左/右倾斜方向,所以行走受训者能够更容易地检查他/她的身体的左/右倾斜。
为了实现上述目的,本发明的另一示例性方面是一种行走训练方法,其中目标着地点连同行走受训者的图像被一起显示在布置在行走受训者前方的显示部件的显示屏幕上,行走受训者的图像由第一图像拾取部件拍摄,第一图像拾取部件用于从位于行走受训者上方的视点拍摄行走受训者的图像,目标着地点是行走受训者使他/她的脚下一步应该着地的点,其中除了脚的目标着地点以外,中心线也被显示在显示部件的显示屏幕上,中心线指示行走受训者在左/右方向上的中心位置。根据该方面,行走受训者可以通过查看显示在他/她的脚的目标着地点附近的中心线来容易地检查他/她的身体的左/右倾斜。
鉴于上述问题作出了本发明,本发明可以提供行走训练装置和行走训练方法,用于允许行走受训者通过查看显示在他/她的脚的目标着地点附近的中心线来容易地检查他/她的身体的左/右倾斜。
根据下文给出的详细描述以及仅作为说明给出并且因此不应被视为对本发明的限制的附图,将更全面地理解本发明的以上和其他目的、特征和优点。
附图说明
图1是示出了根据本发明的第一示例性实施方式的行走训练装置的示意性配置的透视图;
图2是示出了根据本发明的第一示例性实施方式的行走训练装置的示意性系统配置的框图;
图3是示出了根据本发明的第一示例性实施方式的行走辅助装置的示意性配置的透视图;
图4示出了在监视器中显示的脚的目标着地点和中心线的示例;
图5是示出了根据本发明的第一示例性实施方式的行走训练方法的流程的流程图;
图6示出了在监视器显示的脚的目标着地点、中心线和标记的示例;以及
图7示出了根据位于行走受训者前方或后方的视点的、中心线相对于竖直线的倾斜角的示例。
具体实施方式
第一示例性实施方式
在下文中参照附图来说明根据本发明的第一示例性实施方式。
图1是示出了根据本发明的第一示例性实施方式的行走训练装置的示意性配置的透视图。图2是示出了根据本发明的第一示例性实施方式的行走训练装置的示意性系统配置的框图。根据第一示例性实施方式的行走训练装置1是例如一种装置,诸如具有由中风引起的偏瘫的病人的行走受训者通过该装置进行行走训练。行走训练装置1包括:行走辅助装置2,其被附接至行走受训者的腿;训练装置3,行走受训者通过该训练装置3进行行走训练;以及陀螺仪传感器4,其被附接至行走受训者。
例如,行走辅助装置2被附接至行走受训者的病腿并且辅助行走受训者行走(图3)。行走辅助装置2包括:大腿框架21;小腿框架23,其通过膝关节部22被连接至大腿框架21;脚底框架25,其通过踝关节部24被连接至小腿框架23;电机单元26,其旋转地驱动膝关节部22;以及调整机构27,其调整踝关节部24的可移动范围。注意,行走辅助装置2的上述配置仅是示例,并且行走辅助装置2的配置不限于这样的示例。例如,行走辅助装置2可以包括另一个电机单元,其旋转地驱动踝关节部24。
多个压力传感器28被设置在脚底框架25中。压力传感器28是压力检测部件的具体示例。压力传感器28中的每一个是例如对施加在脚底框架25的脚底上的竖直压力进行检测的竖直压力传感器。
大腿框架21被附接至行走受训者腿的大腿,而小腿框架23被附接至行走受训者腿的小腿。电机单元26根据行走受训者的行走运动旋转地驱动膝关节部22,从而辅助行走受训者行走。注意,行走辅助装置2的上述配置仅是示例,并且行走辅助装置2的配置不限于这样的示例。可以应用能够被附接至行走受训者的腿并且辅助行走受训者行走的任意行走辅助装置。
陀螺仪传感器4是角速度传感器的具体示例。陀螺仪传感器4被附接至例如行走受训者的躯干。陀螺仪传感器4检测行走受训者的躯干的倾斜角速度。注意,陀螺仪传感器4可以被附接至行走受训者的头部。
训练装置3包括踏车31、框架主体32、第一相机33、第二相机34、监视器35和控制设备36。踏车31使环形带311旋转。行走受训者登上带311并根据带311的运动在带311上行走。通过这样做,行走受训者进行行走训练。
框架主体32包括:两对柱框架321,其被竖直地布置在踏车31上;一对纵向框架322,其在纵向方向上延伸并且连接至各个柱框架321;三个横向框架323,其在横向方向上延伸并且连接至纵向框架322中的每一个。注意,上述框架主体32的配置并不限于该示例。
第一相机33是第一图像拾取部件的具体示例。第一相机33被布置在例如框架主体32的横向框架323处。第一相机33从位于行走受训者上方的视点拍摄在踏车31上行走的行走受训者的图像。第一相机33然后将从上方视点拍摄的行走受训者的图像输出至控制设备36。
第二相机34是第二图像拾取部件的具体示例。第二相机34被布置在例如框架主体32的前部。第二相机34从行走受训者的前方拍摄在踏车31上行走的行走受训者的图像。可替代地,第二相机34可以被布置在例如框架主体32的后部处并且从行走受训者的后方拍摄在踏车31上行走的行走受训者的图像。第二相机34然后将从前方视点或后方视点拍摄的行走受训者的图像输出至控制设备36。
监视器35是显示部件的具体示例。监视器35被布置在例如框架主体32的前部并且在行走受训者的前方。监视器35是液晶显示设备、有机EL显示设备等。例如,监视器35显示信息,诸如从上方视点、前方视点或后方视点拍摄的行走受训者的图像,训练指令(诸如行走受训者使他/她的脚下一步应该着地的目标着地点),训练菜单和训练信息(如行走速度和生物特征信息)。例如,监视器35被构造为触摸板,并且行走受训者可以通过监视器35来输入各种信息项。
控制设备36是显示控制部件的具体示例。控制设备36对监视器35、踏车31的驱动以及行走辅助装置2中的每个进行控制。例如,控制设备36由主要使用微型计算机的硬件形成,该微型计算机包括:执行算术处理、控制处理等的CPU(中央处理单元)36a;存储要被CPU36a执行的算法程序、控制程序等的ROM(只读存储器)36b;存储各种数据等的RAM(随机存取存储器)36c;以及外部接收和输出信号的接口单元(I/F)36d。CPU 36a、ROM 36b、RAM 36c和接口单元36d通过数据总线等彼此连接。
控制设备36基于从第一相机33输出的从上方视点拍摄的行走受训者的图像来计算(或确定)行走受训者使他/她的脚下一步应该着地的目标着地点S(图4)。例如,控制设备36基于踏车31的带311的运动速度来估计行走受训者的腿向前摆动的长度。然后,控制设备36基于从第一相机33输出的出自上方视点的行走受训者的图像以及所估计的腿摆动的长度来计算行走受训者的脚的目标着地点S。注意,用于计算目标着地点S的上述方法仅是示例,并且计算方法不限于该示例。
在行走训练期间,控制设备36将行走受训者的脚的目标着地点S连同由第一相机33从上方视点拍摄的行走受训者的图像一起显示在监视器35的显示屏幕上。行走受训者行走,使得他/她自己的脚落在监视器35中显示的目标着地点S上。
顺便提及,例如,诸如偏瘫的病人的行走受训者的类型在行走训练期间往往以他们的身体向左倾斜或向右倾斜的状态行走。然而,在行走训练期间,行走受训者自身几乎不能注意到他/她的身体的左/右倾斜。
为了解决这个问题,在根据第一示例性实施方式的行走训练装置1中,控制设备36使得在监视器35的显示屏幕上除了显示他/她的脚的目标着地点S以外还显示指示行走受训者在左/右方向上的中心位置的中心线L(图4)。因此,行走受训者能够通过查看显示在他/她的脚的目标着地点S附近的中心线L来容易地检查他/她的身体在左/右方向上的倾斜。
例如,在相关领域中,在分开设置的监视器上显示出自位于行走受训者前方或后方的视点的行走受训者的图像,并且行走受训者在不同监视器中检查目标着地点以及他/她的身体的左/右倾斜是件麻烦的事情。相比之下,根据第一示例性实施方式的行走训练装置1,如上所述,在行走受训者在行走训练期间查看位于他/她前方的监视器35的显示屏幕上的他/她的脚的目标着地点S时,显示在目标着地点S附近的中心线L也进入行走受训者的视线。因此,行走受训者可以检查他/她的身体在左/右方向上的倾斜而不必对其施加关注。
控制设备36基于从第一相机33输出的行走受训者的上方视点图像来计算指示行走受训者在左/右方向上的中心位置的中心线L。例如,控制设备36基于从第一相机33输出的出自上方视点的行走受训者的图像来确定行走受训者的左脚和右脚的位置,并且计算在前/后方向上(即,在行走方向上)从左脚位置和右脚位置的中心延伸的线作为中心线L。注意,用于计算中心线L的上述方法仅是示例,并且计算方法不限于该示例。例如,控制设备36可以基于从陀螺仪传感器4、行走辅助装置2的压力传感器28或第二相机34输出的信息来计算中心线L。
注意,控制设备36可以包括开关37,并且当开关37接通时,中心线L可以从监视器35的显示屏幕消失,使得仅脚的目标着地点S被显示在监视器35的显示屏幕上。当行走受训者在理疗师在场的情况下进行行走训练时,理疗师可以就身体的左/右倾斜向行走受训者给出指令。在这种情况下,当上述开关37接通时,中心线L从监视器35的显示屏幕消失,使得仅脚的目标着地点S显示在监视器35的显示屏幕上。以这种方式,行走受训者能够在仅关注由理疗师给出的关于他/她的身体的左/右倾斜的指令的情况下进行行走训练。
图5是示出了根据本发明的第一示例性实施方式的行走训练方法的流程的流程图。
当行走训练开始时,踏车31被驱动,并且行走受训者开始在踏车31上行走(步骤S101)。
第一相机33从位于行走受训者上方的视点拍摄在踏车31上行走的行走受训者的图像,并且将由第一相机33拍摄的行走受训者的图像输出至控制设备36(步骤S102)。
控制设备36基于从第一相机33输出的行走受训者的上方视点图像来计算指示行走受训者在左/右方向上的中心位置的中心线L(步骤S103)。
控制设备36基于踏车31的带311的移动速度以及从第一相机33输出的出自上方视点的行走受训者的图像来计算行走受训者的脚的目标着地点S(步骤S104)。
控制设备36将行走受训者的脚的目标着地点S以及行走受训者在左/右方向上的中心线L连同由第一相机33从上方视点拍摄的行走受训者的图像一起显示在监视器35的显示屏幕上(步骤S105)。行走受训者在根据显示在监视器35的显示屏幕上的他们的目标着地点S来移动他/她的脚时,通过实时地查看在脚的目标着地点S附近显示的中心线L来检查他/她的身体的左/右倾斜,从而纠正倾斜。以这种方式,行走受训者能够例如在行走训练期间由他/她自己来纠正他/她的左/右倾斜的习惯。
如上所述,在根据第一示例性实施方式的行走训练装置1中,除了脚的目标着地点S以外,在监视器35的显示屏幕上还显示指示行走受训者在左/右方向上的中心位置的中心线L。因此,行走受训者能够通过查看在他/她的脚的目标着地点S附近显示的中心线L来容易地检查他/她的身体在左/右方向上的倾斜。
第二示例性实施方式
根据本发明的第二示例性实施方式的控制设备36计算行走受训者的身体的左/右倾斜量并且还计算(即,确定)行走受训者的身体的倾斜方向。此外,控制设备36在监视器35的显示屏幕上靠近(或接着)行走受训者在左/右方向上的中心线L显示标记X,标记X指示所计算的倾斜量(倾斜纠正量),以及倾斜反方向(纠正倾斜的方向),即与倾斜方向相反的方向(图6)。可替代地,控制设备36可以在监视器35的显示屏幕上靠近(或接着)行走受训者在左/右方向上的中心线L显示标记X,标记X指示所计算的倾斜量(倾斜纠正量)和倾斜方向(实际倾斜方向)。以这种方式,行走受训者仅通过查看在他/她的脚的目标着地点S和中心线L附近显示的标记X就能够在视觉上识别他/她的身体在左/右方向上的倾斜量和在左/右方向上的倾斜方向,从而更容易地检查他/她的身体的左/右倾斜。
控制设备36是倾斜计算部件的具体示例。控制设备36能够基于由行走辅助装置2的压力传感器28、陀螺仪传感器4、第二相机34和第一相机33中的至少之一检测的信息来计算(或确定)行走受训者的身体的左/右倾斜量和左/右倾斜方向。
例如,控制设备36基于由陀螺仪传感器4检测的行走受训者的躯干(或身躯)的倾斜角速度来计算(或确定)行走受训者的身体的左/右倾斜量和左/右倾斜方向。可替代地,控制设备36基于从第二相机34输出的出自前方视点或后方视点的行走受训者的图像来计算躯干在左/右方向上的中心线(图7)。然后,控制设备36计算所计算的中心线相对于竖直线的倾斜方向和倾斜角。
例如,控制设备36使得在监视器35的显示屏幕上靠近(或接着)行走受训者在左/右方向上的中心线显示箭头,作为指示所计算的倾斜量以及所计算的(或所确定的)倾斜方向或倾斜反方向的标记X(图6)。该箭头的方向指示倾斜方向或倾斜反方向,并且该箭头的长度指示倾斜量的大小。注意,上述标记仅是示例并且标记不限于该示例。也就是说,如果行走受训者能够容易地识别该行走受训者的身体的左/右倾斜量和左/右倾斜方向,那么可以应用任意标记。
注意,通过切换开关7,标记X可以从监视器35的显示屏幕消失(即,突然不见),并且仅脚的目标着地点S和中心线L可以被显示在监视器35的显示屏幕上。以这种方式,行走受训者能够在例如关注由理疗师等给出的指令时进行行走训练。
如上所述,根据第二示例性实施方式,在监视器35的显示屏幕上靠近(或接着)行走受训者在左/右方向上的中心线L显示指示行走受训者的身体的左/右倾斜量和左/右倾斜方向的标记X。以这种方式,行走受训者能够通过查看显示在他/她的脚的目标着地点S和中心线L附近的标记X来容易地检查他/她的身体的左/右倾斜。
第三示例性实施方式
根据本发明的第三示例性实施方式的控制设备36可以通过由扬声器产生的声音向行走受训者通知该行走受训者的身体的左/右倾斜量和左/右倾斜方向中的至少之一。扬声器是声音输出部件的具体示例。
例如,控制设备36根据行走受训者的身体的左/右倾斜量和左/右倾斜方向来改变从扬声器输出的声音的频率、音量、音调等。更具体地,在行走受训者的身体的左/右倾斜量增大时,控制设备36提高从扬声器输出的声音的频率或者增大从扬声器输出的声音的音量。当行走受训者的身体向右倾斜时,控制设备36从右侧扬声器输出声音,而当行走受训者的身体向左倾斜时,控制设备36从左侧扬声器输出声音。可替代地,控制设备36可以根据行走受训者的身体向右倾斜还是向左倾斜来改变从扬声器输出的声音的音调。
如上所述,根据第三示例性实施方式,通过使用由扬声器产生的声音向行走受训者通知他/她的身体的左/右倾斜量和左/右倾斜方向中至少之一。以这种方式,行走受训者能够更直观地识别他/她的身体在左/右方向上的倾斜量和在左/右方向上的倾斜方向,从而更容易检查他/她的身体的左/右倾斜。
注意,控制设备36可以通过由振动设备产生的振动向行走受训者通知该行走受训者的身体的左/右倾斜量和左/右倾斜方向中的至少之一。该振动设备是振动部件的具体示例。
控制设备36根据行走受训者的身体的左/右倾斜量和左/右倾斜方向来改变由振动设备产生的振动的频率、大小(即,幅度)等。更具体地,在行走受训者的身体左/右倾斜量增大时,控制设备36提高振动设备的振动的频率或者增大振动设备的振动的幅度。当行走受训者的身体向右倾斜时,控制设备36使行走受训者的右侧振动,而当行走受训者的身体向左倾斜时,控制设备36使行走受训者的左侧振动。
控制设备36根据行走受训者的身体的左/右倾斜量和左/右倾斜方向来改变从发光设备发出的光的闪烁频率、亮度、颜色等。发光设备是光学输出部件的具体示例。
更具体地,在行走受训者的身体的左/右倾斜量增大时,控制设备36提高从发光设备发出的光的闪烁频率或者增大从发光设备发出的光的亮度。当行走受训者的身体向右倾斜时,控制设备36使右侧发光设备开启,而当行走受训者的身体向左倾斜时,控制设备36使左侧发光设备开启。此外,控制设备36可以通过以任意方式将扬声器、振动设备和发光设备组合在一起来向行走受训者通知该行走受训者的身体的左/右倾斜量和左/右倾斜方向中的至少之一。
注意,本发明并不限于上述示例性实施方式,并且可以在不偏离本发明的精神和范围的情况下进行各种修改。
在上述示例性实施方式中,行走辅助装置2不一定必须被附接至行走受训者的腿。
在上述示例性实施方式中,训练装置3不一定必须配备框架主体32。在这样的情况下,监视器35、第一相机33和第二相机34可以被布置(或安装)在例如墙上或天花板上。
尽管在上述示例性实施方式中装备行走辅助装置2的用户在踏车31上行走,但本发明不限于这样的配置。可以将本发明应用于下述配置:装备行走辅助装置2的用户在平稳的路面上行走并且根据用户的移动来移动监视器35、第一相机33和第二相机34等。
根据如此描述的本发明,显然本发明的实施方式可以以多种方式变化。这样的变型不应被视为偏离本发明的精神和范围,并且如对本领域技术人员而言将显而易见的,所有这样的修改旨在涵盖于所附权利要求的范围内。
Claims (4)
1.一种行走训练装置,包括:
显示部件,所述显示部件被布置在行走受训者前方;
第一图像拾取部件,所述第一图像拾取部件用于从位于所述行走受训者上方的视点拍摄所述行走受训者的图像;以及
显示控制部件,所述显示控制部件用于对所述显示部件进行控制,使得目标着地点连同由所述第一图像拾取部件拍摄的所述行走受训者的图像一起显示在所述显示部件的显示屏幕上,所述目标着地点是所述行走受训者使他/她的脚下一步应该着地的点,其中,
所述显示控制部件对所述显示部件进行控制,使得在所述显示部件的显示屏幕上除了显示脚的目标着地点以外还显示中心线,所述中心线指示所述行走受训者在左/右方向上的中心位置。
2.根据权利要求1所述的行走训练装置,还包括倾斜计算部件,所述倾斜计算部件用于基于以下部件中至少之一检测的信息来计算所述行走受训者的身体的左/右倾斜量及左/右倾斜方向:压力传感器,所述压力传感器对所述行走受训者的脚底上的压力进行检测;角速度传感器,所述角速度传感器被附接至所述行走受训者;第二图像拾取部件,所述第二图像拾取部件用于从所述行走受训者的前方或后方拍摄所述行走受训者的图像;以及所述第一图像拾取部件,其中,
所述显示控制部件对所述显示部件进行控制,使得在所述显示部件的显示屏幕上靠近所述中心线显示以下标记,所述标记指示由所述倾斜计算部件计算的倾斜量以及倾斜方向或倾斜反方向。
3.根据权利要求2所述的行走训练装置,还包括以下部件中至少之一:声音输出部件,所述声音输出部件用于根据由所述倾斜计算部件计算的倾斜量和倾斜方向来改变声音输出;振动部件,所述振动部件用于改变提供给所述行走受训者的振动;以及光学输出部件,所述光学输出部件用于改变光学输出。
4.一种行走训练方法,其中,目标着地点连同行走受训者的图像一起显示在布置在所述行走受训者前方的显示部件的显示屏幕上,所述行走受训者的图像由第一图像拾取部件拍摄,所述第一图像拾取部件用于从位于所述行走受训者上方的视点拍摄所述行走受训者的图像,所述目标着地点是所述行走受训者使他/她的脚下一步应该着地的点,其中,
除了脚的目标着地点以外,中心线也被显示在所述显示部件的显示屏幕上,所述中心线指示所述行走受训者在左/右方向上的中心位置。
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EP3142095A1 (en) | 2017-03-15 |
CN114712169B (zh) | 2024-07-02 |
US10366617B2 (en) | 2019-07-30 |
JP2017051365A (ja) | 2017-03-16 |
EP3142095B1 (en) | 2020-12-30 |
JP6406187B2 (ja) | 2018-10-17 |
US20170065849A1 (en) | 2017-03-09 |
CN114712169A (zh) | 2022-07-08 |
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