CN107019618A - 步行训练装置以及该步行训练装置的步行训练方法 - Google Patents
步行训练装置以及该步行训练装置的步行训练方法 Download PDFInfo
- Publication number
- CN107019618A CN107019618A CN201610815716.6A CN201610815716A CN107019618A CN 107019618 A CN107019618 A CN 107019618A CN 201610815716 A CN201610815716 A CN 201610815716A CN 107019618 A CN107019618 A CN 107019618A
- Authority
- CN
- China
- Prior art keywords
- line
- leg
- storage amount
- spooler
- tensile force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000008859 change Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 49
- 230000009471 action Effects 0.000 claims description 32
- 238000012360 testing method Methods 0.000 claims description 21
- 210000002414 leg Anatomy 0.000 description 105
- 238000012545 processing Methods 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 7
- 230000005484 gravity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 240000002853 Nelumbo nucifera Species 0.000 description 3
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 3
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 230000000116 mitigating effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4027—Specific exercise interfaces
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03516—For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0057—Means for physically limiting movements of body parts
- A63B69/0062—Leg restraining devices
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1619—Thorax
- A61H2201/1621—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5048—Audio interfaces, e.g. voice or music controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0481—Hanging
- A61H2203/0487—Hanging upright
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/80—Weight
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
- A63B2071/0081—Stopping the operation of the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0625—Emitting sound, noise or music
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0647—Visualisation of executed movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/15—Arrangements for force transmissions
- A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
- A63B21/153—Using flexible elements for reciprocating movements, e.g. ropes or chains wound-up and unwound during exercise, e.g. from a reel
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4007—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the chest region, e.g. to the back chest
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4009—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the waist
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
- A63B2220/24—Angular displacement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
- A63B2220/34—Angular speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/807—Photo cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/74—Miscellaneous features of sport apparatus, devices or equipment with powered illuminating means, e.g. lights
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/01—User's weight
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Theoretical Computer Science (AREA)
- Medical Informatics (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Entrepreneurship & Innovation (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Dentistry (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Physiology (AREA)
- Primary Health Care (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明提供步行训练装置以及步行训练方法。步行训练装置具备:训练者的腿部的步行辅助装置;将腿部的线朝上方且朝前方拉伸,构成为在腿部的摆动腿期间卷取并收纳线且在支撑腿期间将线拉出的第一线卷取机构;控制第一线卷取机构以便以第一拉伸力对线进行拉伸的拉伸控制单元;以及对收纳于第一线卷取机构的线收纳量进行检测的收纳量检测单元。在由收纳量检测单元检测到的线收纳量成为包括第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的线的规定收纳量以下的摆动开始期间,拉伸控制单元控制第一线卷取机构,以便以比第一拉伸力大的第二拉伸力对线进行拉伸。
Description
技术领域
本发明涉及进行训练者的步行训练的步行训练装置、以及该步行训练装置的步行训练方法。
背景技术
公知有在训练者的腿部佩戴对该训练者的步行动作进行辅助的步行辅助装置而进行步行训练的步行训练装置(例如参照日本特开2012-095793号公报)。
步行辅助装置具有某种程度的重量,因此,对于佩戴有该步行辅助装置的训练者而言,该重量成为负担。另外,当训练者以在腿部佩戴有步行辅助装置的状态进行步行动作的情况下,在使腿部朝前方摆动的时刻,该腿部从步行辅助装置受到朝后方的惯性力。因此,产生了对训练者施加有过度的负担的课题。
发明内容
本发明是鉴于这样的问题点而完成的,其主要目的在于提供一种能够免于负担步行辅助装置的重量、并且能够减轻开始摆动的时刻的训练者的负担的步行训练装置以及该步行训练装置的步行训练方法。
用于实现上述目的的本发明的一个方式涉及一种步行训练装置,具备:步行辅助装置,该步行辅助装置被佩戴于训练者的腿部,对该训练者的步行动作进行辅助;第一线卷取机构,该第一线卷取机构是通过卷取直接连接于上述腿部或者经由上述步行辅助装置连接于上述腿部的线而将上述腿部的线朝上方且朝前方拉伸的机构,且构成为:在上述训练者的步行动作中上述腿部成为摆动腿状态的摆动腿期间卷取并收纳上述线,且在上述训练者的步行动作中上述腿部成为支撑腿状态的支撑腿期间将上述线拉出;拉伸控制单元,该拉伸控制单元控制上述第一线卷取机构以便以第一拉伸力对上述线进行拉伸,由此来降低上述步行辅助装置的重量;以及收纳量检测单元,该收纳量检测单元对卷取并收纳于上述第一线卷取机构的上述线的收纳量进行检测,上述步行训练装置的特征在于,在由上述收纳量检测单元检测到的上述线的收纳量成为包括上述第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的上述线的规定收纳量以下的摆动开始期间,上述拉伸控制单元控制上述第一线卷取机构,以便代替上述第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对上述线进行拉伸。
根据该方式,拉伸控制单元控制第一线卷取机构以便以第一拉伸力对线进行拉伸,由此来降低步行辅助装置的重量。由此,能够免于负担训练者的腿部处的步行辅助装置的重量。另外,在由收纳量检测单元检测到的线的收纳量成为包括第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的线的规定收纳量以下的期间,控制第一线卷取机构,以便代替第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对线进行拉伸。由此,在佩戴有步行辅助装置的腿部的开始摆动的时刻,能够减轻上述摆动的惯性力的负担,能够减轻对该腿部施加的负担。即,能够免于负担步行辅助装置的重量,并且能够减轻开始摆动的时刻的训练者的负担。
在该一个方式中,也可以形成为,上述摆动开始期间是:从上述第一线卷取机构的最大的线的收纳量减去由上述收纳量检测单元检测到的线的收纳量而得的值为包括上述第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的上述线的规定收纳量与上述最大的线的收纳量之间的规定差量以上的期间。
在该一个方式中,也可以形成为,上述拉伸控制单元在每个上述摆动腿期间更新上述第一线卷取机构的最大的线的收纳量。由此,能够更高精度地判定腿部的开始摆动的时刻,能够更加地减轻该开始摆动的时刻的惯性力的负荷。
在该一个方式中,也可以形成为,还具备第二线卷取机构,该第二线卷取机构是通过卷取直接连接于上述腿部或者经由上述步行辅助装置连接于上述腿部的线而将上述腿部的线朝上方且朝后方拉伸的机构,且构成为:在上述腿部的支撑腿期间卷取并收纳上述线,并在上述腿部的摆动腿期间将上述线拉出,在由上述收纳量检测单元检测到的上述线的收纳量成为包括上述第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的上述线的规定收纳量以下的摆动开始期间,上述拉伸控制单元使上述第一线卷取机构以及上述第二线卷取机构的拉伸力的水平前方分量增加。由此,能够相独立地且精密地控制第一线卷取机构以及第二线卷取机构的拉伸力的铅垂上方分量和水平前方分量。因此,能够减轻步行辅助装置的重力负荷,并且能够更加地减轻在佩戴有步行辅助装置的腿部的开始摆动时对该腿部施加的负担。
用于实现上述目的的本发明的一个方式也可以涉及一种步行训练装置的步行训练方法,其中,该步行训练装置具备:步行辅助装置,该步行辅助装置被佩戴于训练者的腿部,对该训练者的步行动作进行辅助;第一线卷取机构,该第一线卷取机构是通过卷取直接连接于上述腿部或者经由上述步行辅助装置连接于上述腿部的线而将上述腿部的线朝上方且朝前方拉伸的机构,且构成为:在上述训练者的步行动作中上述腿部成为摆动腿状态的摆动腿期间卷取并收纳上述线,且在上述训练者的步行动作中上述腿部成为支撑腿状态的支撑腿期间将上述线拉出;拉伸控制单元,该拉伸控制单元控制上述第一线卷取机构以便以第一拉伸力对上述线进行拉伸,由此来降低上述步行辅助装置的重量;以及收纳量检测单元,该收纳量检测单元对卷取并收纳于上述第一线卷取机构的上述线的收纳量进行检测,上述步行训练装置的步行训练方法的特征在于,在由上述收纳量检测单元检测到的上述线的收纳量成为包括上述第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的上述线的规定收纳量以下的摆动开始期间,控制上述第一线卷取机构,以便代替上述第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对上述线进行拉伸。
根据该一个方式,控制第一线卷取机构以便以第一拉伸力对线进行拉伸,由此来降低步行辅助装置的重量。由此,能够免于负担训练者的腿部处的步行辅助装置的重量。另外,在由收纳量检测单元检测到的线的收纳量成为包括第一线卷取机构的线从拉出状态朝卷取状态变化的时刻在内的期间中的线的规定收纳量以下的期间,控制第一线卷取机构,以便代替第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对线进行拉伸。由此,在佩戴有步行辅助装置的腿部的开始摆动的时刻,能够减轻上述摆动的惯性力的负担,能够减轻对该腿部施加的负担。即,能够免于负担步行辅助装置的重量,并且能够减轻开始摆动的时刻的训练者的负担。
根据本发明,能够提供能够免于负担步行辅助装置的重量、并且能够减轻开始摆动的时刻的训练者的负担的步行训练装置以及该步行训练装置的步行训练方法。
通过参照并不用于限制本发明的作为例子的所附的附图并且阅读以下的详细说明,能够进一步清楚本发明的其它特征、目的、优点。
附图说明
图1是示出本发明的实施方式1所涉及的步行训练装置的简要结构的立体图。
图2是示出步行辅助装置的简要结构的立体图。
图3是示出本发明的实施方式1所涉及的控制装置的简要的系统结构的框图。
图4是示出本发明的实施方式1所涉及的计算机的简要的系统结构的框图。
图5是示出线收纳量与摆动腿期间以及支撑腿期间之间的关系的一个例子的图。
图6是示出本发明的实施方式1所涉及的步行训练方法的流程的流程图。
图7是示出包括从拉出状态朝卷取状态变化的时刻在内的期间中的线的规定收纳量与最大的线收纳量之间的差量的一个例子的图。
图8是示出在每个摆动腿期间更新最大线收纳量而判定开始摆动的时刻的处理流程的一个例子的流程图。
图9是示出在框架主体设置有第二线卷取机构的结构的一个例子的图。
具体实施方式
实施方式1
以下,参照附图对本发明的实施方式进行说明。
图1是示出本发明的实施方式1所涉及的步行训练装置的简要结构的立体图。本实施方式1所涉及的步行训练装置1例如是用于进行中风偏瘫患者等训练者的步行训练的装置。步行训练装置1具备被佩戴于训练者的腿部的步行辅助装置2、和进行训练者的步行训练的训练装置3。
步行辅助装置2例如被佩戴于进行步行训练的训练者的患腿,对训练者的步行进行辅助(图2)。步行辅助装置2具有:大腿框架21、经由膝关节部22连结于大腿框架21的小腿框架23、经由踝关节部24连结于小腿框架23的脚掌框架25、驱动膝关节部22旋转的马达单元26、以及调整踝关节部24的可动范围的调整机构27。此外,上述步行辅助装置2的结构是一个例子,并不限于此。例如,步行辅助装置2也可以具备驱动踝关节部24旋转的马达单元。
大腿框架21安装于训练者的腿部的大腿部,小腿框架23安装于训练者的腿部的小腿部。在大腿框架21,例如设置有用于固定大腿部的大腿装具212。在大腿框架21,设置有用于连接后述的第一线卷取机构33的线36的、沿左右方向延伸的横长的第一框架211。
此外,上述第一线卷取机构33的连接部是一个例子,并不限于此。例如,也可以将第一线卷取机构33的线36连接于大腿装具212,能够将第一线卷取机构33的拉伸点设置于步行辅助装置2的任意位置。
马达单元26通过根据训练者的步行动作驱动膝关节部22旋转而对训练者的步行进行辅助。此外,上述步行辅助装置2的结构是一个例子,并不限于此。能够应用被佩戴于训练者的腿部且能够对训练者的步行进行辅助的任意的步行辅助装置。
训练装置3具有步行运动器31、框架主体32、第一及第三线卷取机构33、34、以及控制装置35。步行运动器31使环状的跑带311旋转。训练者登上跑带311上并根据该跑带311的移动而进行步行,从而进行其步行训练。
框架主体32具有:在步行运动器31上立起设置的两对柱框架321;与各柱框架321连接且沿前后方向延伸的一对前后框架322;以及与各前后框架322连接且沿左右方向延伸的三个左右框架323。此外,上述框架主体32的结构是一个例子,并不限于此。
在前方的左右框架323设置有第一线卷取机构33,该第一线卷取机构33对直接连接于训练者的腿部或者经由步行辅助装置2连接于训练者的腿部的线36进行卷取,从而对线36进行拉伸。第一线卷取机构33所拉伸的线36的一端与步行辅助装置2连接。第一线卷取机构33通过卷取线36而经由线36将步行辅助装置2朝上方并朝前方拉伸。
第一线卷取机构33例如由将线36卷取于旋转体以及将线36从旋转体拉出的机构、驱动该机构的马达等构成。第一线卷取机构33构成为:在训练者的步行动作中腿部成为摆动腿状态的摆动腿期间将线36卷取并收纳于旋转体,且在训练者的步行动作中腿部成为支撑腿状态的支撑腿期间将线36从旋转体拉出。
第一线卷取机构33的拉伸力f的铅垂上方分量f2对步行辅助装置2的重量进行支撑(图3)。第一线卷取机构33的拉伸力f的水平前方分量f1对腿部的摆动进行辅助。由此,能够减轻步行训练时的训练者的步行负荷。
第三线卷取机构34设置于后方的左右框架323,且将线37朝上方拉伸。线37的一端例如与被佩戴于训练者的腰部附近的带连接。第三线卷取机构34例如由将线37卷取于旋转体等以及将线37从旋转体等拉出的机构、驱动该机构的马达等构成。第三线卷取机构34经由线37而将训练者的腰部朝上方拉伸。由此,能够减轻训练者的自重所产生的负荷。第一以及第三线卷取机构33、34经由配线等与控制装置35分别连接。
在第一以及第三线卷取机构33、34,分别设置有第一以及第三收纳量检测部40、41,该第一以及第三收纳量检测部40、41分别检测卷取并收纳于上述第一以及第三线卷取机构33、34的旋转体的线36、37的收纳量(卷取量)。第一收纳量检测部40是收纳量检测单元的一个具体例。第一以及第三收纳量检测部40、41例如通过使用角度传感器检测旋转体的旋转角、旋转量来检测卷取并收纳于旋转体的线36、37的收纳量。第一以及第三收纳量检测部40、41将检测到的线36、37的收纳量向控制装置35输出。此外,也可以形成为仅设置有第一线卷取机构33的结构。
控制装置35是拉伸控制单元的一个具体例。控制装置35对第一以及第三线卷取机构33、34的拉伸力、步行运动器31的驱动、以及步行辅助装置2分别进行控制。控制装置35例如以微型计算机为中心而由硬件构成,该微型计算机由进行运算处理、控制处理等的CPU(Central Processing Unit,中央处理单元)、存储由CPU执行的运算程序、控制程序等的ROM(Read Only Memory,只读存储器)、RAM(Random Access Memory,随机访问存储器)所构成的存储器、以及与外部进行信号的输入输出的接口部(I/F)等构成。CPU、存储器以及接口部经由数据总线等相互连接。
控制装置35在步行训练中控制第一线卷取机构33,以便以降低步行辅助装置2的重量的第一拉伸力对线36进行拉伸。控制装置35在步行训练中控制第一线卷取机构33,以便例如第一线卷取机构33的第一拉伸力的铅垂上方分量与步行辅助装置2的重力相等。由此,能够减轻步行辅助装置2对训练者的步行产生的重力负荷。
图3是示出本实施方式1所涉及的控制装置的简要的系统结构的框图。
控制装置35例如由控制第一线卷取机构33的腿部免荷控制单元351、控制第三线卷取机构34的人免荷控制单元352、控制步行辅助装置2的腿部控制单元353、控制步行运动器31的步行运动器控制单元354、控制上述单元的计算机(Personal Computer,个人计算机)355、以及用于操作计算机355的操作面板356构成。操作面板356显示训练指示、训练菜单、训练信息(步行速度、生物体信息等)等信息。操作面板356例如构成为触摸面板,用户能够经由操作面板356输入各种信息。
然而,由于步行辅助装置具有某种程度的重量,因此对于佩戴有该步行辅助装置的训练者而言该重量成为负担。另外,在训练者以在腿部佩戴有步行辅助装置的状态进行步行动作的情况下,在使腿部朝前方摆动的时刻,该腿部从步行辅助装置受到朝后方的惯性力。因此,产生了对训练者施加有过度的负担的课题。
与此相对,在本实施方式1所涉及的步行训练装置1中,控制装置35控制第一线卷取机构33以便以第一拉伸力对线36进行拉伸,由此来降低步行辅助装置2的重量。由此,能够免于负担训练者的腿部处的步行辅助装置2的重量。另外,控制装置35判定佩戴有步行辅助装置2的腿部的开始摆动的时刻,并在该开始摆动的时刻使第一线卷取机构33的拉伸力代替第一拉伸力而增加至被设定为比第一拉伸力大的第二拉伸力。由此,在佩戴有步行辅助装置2的腿部的开始摆动的时刻,能够减轻上述摆动的惯性力的负担,能够减轻对该腿部施加的负担。即,能够免于负担步行辅助装置2的重量,并且能够减轻开始摆动的时刻的训练者的负担。
图4是示出本实施方式1所涉及的计算机的简要的系统结构的框图。本实施方式1所涉及的计算机355具有:判定佩戴有步行辅助装置2的腿部的开始摆动的时刻的动作判定部357;和在开始摆动的时刻使第一线卷取机构的拉伸力从第一拉伸力增加至被设定为比第一拉伸力大的第二拉伸力的拉伸力计算部358。
动作判定部357基于由第一收纳量检测部40检测到的线收纳量,判定佩戴有步行辅助装置2的腿部开始朝前方摆动的时刻(期间)。
图5是示出线收纳量与摆动腿期间以及支撑腿期间之间的关系的一个例子的图。如图5所示,可知:在训练者的步行动作中,交替地产生摆动腿期间和支撑腿期间,并且,与该期间对应地,线收纳量大致周期性地增减。并且,腿部开始朝前方摆动的时刻是第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻,也是从支撑腿期间朝摆动腿期间变化的时刻。该时刻大致周期性地产生。
在本实施方式1中,动作判定部357例如将如下期间判定为腿部开始朝前方摆动的时刻:由第一收纳量检测部40检测到的线收纳量成为包括第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻在内的期间中的规定收纳量(以下记为摆动时刻判定阈值)以下的期间。
例如,能够预先通过实验求出第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻。而且,求出包括该变化的时刻在内的期间的线收纳量,并将其作为摆动时刻判定阈值而在上述存储器等中设定。
此外,该摆动时刻判定阈值构成为例如用户能够经由操作面板356、操作终端等而任意地进行设定变更。对于该摆动时刻判定阈值,例如考虑训练者的特性(训练者的步幅、运动能力等)、步行运动器31的跑带311的移动速度等而设定最佳值。其中,摆动时刻判定阈值是第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻的线收纳量以上。若将摆动时刻判定阈值设定得大,则动作判定部357在更早的时刻、且在更长的期间判定开始摆动的时刻。因此,被设定为比第一拉伸力大的第二拉伸力在更早的时刻、且以更长的期间作用于第一线卷取机构33的线36。
动作判定部357在由第一收纳量检测部40检测到的线收纳量成为如上述那样设定的摆动时刻判定阈值以下时,判定为腿部开始朝前方摆动的时刻。动作判定部357在判定为佩戴有步行辅助装置2的腿部开始朝前方摆动的时刻的期间,对拉伸力计算部358输出判定信号。
拉伸力计算部358计算相对于第一线卷取机构33的第一拉伸力指令值,并将计算出的第一拉伸力指令值向第一线卷取机构33输出。第一线卷取机构33根据从拉伸力计算部358输出的第一拉伸力指令值,以第一拉伸力f对步行辅助装置2的线36进行拉伸。此时的第一线卷取机构33的第一拉伸力f的铅垂上方分量f2对步行辅助装置2的重量进行支撑。利用第一线卷取机构33的第一拉伸力f的水平前方分量f1来对腿部的摆动进行辅助。即,第一拉伸力指令值被设定为:相对于用户的通常的步行动作,该第一拉伸力f的铅垂上方分量f2对步行辅助装置2的重量进行支撑,同时,利用该第一拉伸力f的水平前方分量f1对腿部的摆动最佳地进行辅助。
但是,如上所述,在步行中的腿部的开始摆动的时刻,从步行辅助装置2受到朝后方的惯性力,在该开始摆动的时刻对腿部施加有通常的步行动作以上的负荷。与此相对,本实施方式1所涉及的拉伸力计算部358若从动作判定部357接收到判定信号,则使拉伸力指令值从通常的第一拉伸力指令值增加至第二拉伸力指令值。第一线卷取机构33根据从拉伸力计算部358输出的第二拉伸力指令值,以第二拉伸力对步行辅助装置2的线36进行拉伸。
由此,仅当受到腿部的开始摆动的时刻的惯性力时,使第一线卷取机构33的拉伸力从第一拉伸力增加至第二拉伸力。由此,能够减轻腿部的开始摆动的时刻的惯性力的负荷。
图6是示出本实施方式1所涉及的步行训练方法的流程的流程图。此外,图6所示的处理以规定时间反复执行。
第一收纳量检测部40对卷取并收纳于第一线卷取机构33的旋转体的线收纳量进行检测,并将检测到的线收纳量向控制装置35输出(步骤S101)。
动作判定部357基于由第一收纳量检测部40检测到的线收纳量,判定是否是佩戴有步行辅助装置2的腿部开始朝前方摆动的时刻(步骤S102)。
若动作判定部357判定为是佩戴有步行辅助装置2的腿部开始朝前方摆动的时刻(步骤S102的是),则拉伸力计算部358将拉伸力指令值设定为第二拉伸力指令值,并将所设定的第二拉伸力指令值向第一线卷取机构33输出(步骤S103)。另一方面,若动作判定部357判定为不是佩戴有步行辅助装置2的腿部开始朝前方摆动的时刻(步骤S102的否),则拉伸力计算部358将拉伸力指令值设定为第一拉伸力指令值,并将所设定的第一拉伸力指令值向第一线卷取机构33输出(步骤S104)。
以上,在本实施方式1中,控制装置35控制第一线卷取机构33以便以第一拉伸力对线36进行拉伸,由此能够降低步行辅助装置2的重量。由此能够免于负担训练者的腿部处的步行辅助装置2的重量。另外,在由第一收纳量检测部40检测到的线36的收纳量成为包括第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻在内的期间的线36的规定收纳量以下的期间,控制第一线卷取机构33,以便代替第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对线36进行拉伸。由此,在佩戴有步行辅助装置2的腿部的开始摆动的时刻,能够减轻上述摆动的惯性力的负担,能够减轻对该腿部施加的负担。即,能够免于负荷步行辅助装置2的重量,并且能够减轻开始摆动的时刻的训练者的负担。
实施方式2
在本发明的实施方式2中,将包括第一线卷取机构33的线36从拉出状态朝卷取状态变化的时刻在内的期间的线36的规定收纳量与最大的线收纳量之间的规定差量作为摆动时刻判定阈值而在上述存储器等中设定(图7)。上述最大的线收纳量(以下记为最大线收纳量)例如是第一线卷取机构33的线36从卷取状态朝拉出状态变化的时刻的线收纳量,预先通过实验求出,并在上述存储器等中设定。
在该情况下,动作判定部357在判定为从最大线收纳量减去由第一收纳量检测部40检测到的线36的收纳量而得的值为摆动时刻判定阈值以上时,判定为腿部开始朝前方摆动的时刻。
此处,由于存在线收纳量在每个摆动腿期间不同的可能性,因此最大线收纳量也存在在每个摆动腿期间不同的可能性。因而,动作判定部357也可以在每个摆动腿期间更新存储于上述存储器的最大线收纳量。由此,能够更高精度地判定腿部的开始摆动的时刻,能够更佳地减轻该开始摆动的时刻的惯性力的负荷。
图8是示出在每个摆动腿期间更新最大线收纳量而判定开始摆动的时刻的处理流程的一个例子的流程图。此外,图8所示的处理以规定时间反复执行。
动作判定部357判定由第一收纳量检测部40检测到的当前的线收纳量是否为在上述存储器中设定了的最大线收纳量以上(步骤S201)。
若动作判定部357判定出由第一收纳量检测部40检测到的当前的线收纳量为在上述存储器中设定了的最大线收纳量以上(步骤S201的是),则将该由第一收纳量检测部40检测到的当前的线收纳量作为最大线收纳量而在上述存储器中再次设定(步骤S202),并移至后述的(步骤S203)的处理。若动作判定部357判定出由第一收纳量检测部40检测到的线收纳量并非在上述存储器中设定了的最大线收纳量以上(步骤S202的否),则移至后述的(步骤S203)处理。
动作判定部357判定从最大线收纳量减去由第一收纳量检测部40检测到的当前的线收纳量而得的值是否为摆动时刻判定阈值以上(步骤S203)。若动作判定部357判定出从最大线收纳量减去由第一收纳量检测部40检测到的当前的线收纳量而得的值为摆动时刻判定阈值以上(步骤S203的是),则判定是腿部开始朝前方摆动的时刻(true,正确)(步骤S204)。动作判定部357将最大线收纳量设定为第一线卷取机构33的当前的线收纳量(步骤S205)。由此,在判定出开始摆动的时刻后,能够暂时重置在存储器中设定了的最大线收纳量。
另一方面,若动作判定部357判定出从最大线收纳量减去由第一收纳量检测部40检测到的当前的线的收纳量而得的值并非摆动时刻判定阈值以上(步骤S203的否),则判定为并非腿部开始朝前方摆动的时刻(false:错误)(步骤S206)。
此外,本发明并不限于上述实施方式,能够在不脱离主旨的范围内适当地进行变更。
在上述实施方式中,也可以形成为在框架主体32的左右框架323设置有经由线39对步行辅助装置2朝上方并朝后方拉伸的第二线卷取机构38的结构(图9)。第一以及第二线卷取机构33、38的拉伸力的铅垂上方分量的合力对步行辅助装置2的重量进行支撑。而且,利用第一以及第二线卷取机构33、38的拉伸力的水平分量的合力对腿部的摆动进行辅助。
拉伸力计算部358向第一以及第二线卷取机构33、38输出第一以及第二线卷取机构33、38的拉伸力的铅垂上方分量的合力降低步行辅助装置2的重力那样的拉伸力指令值。
另外,若拉伸力计算部358从动作判定部357接收到判定信号,则使拉伸力指令值从第一拉伸力指令值增加至第二拉伸力指令值,并将增加后的第二拉伸力指令值向第一线卷取机构33输出。此时,拉伸力计算部358向第二线卷取机构38输出通常的第一拉伸力指令值(拉伸力指令值=恒定),但并不限于此,也可以使之与针对第一线卷取机构33的第一拉伸力指令值同样地变动。即,拉伸力计算部358在开始摆动的时刻,使针对第一以及第二线卷取机构33、38的拉伸力指令值变动,从而使第一以及第二线卷取机构33、38的拉伸力的水平前方分量增加。由此,能够相独立地且精密地控制第一以及第二线卷取机构33、38的拉伸力的铅垂上方分量和水平前方分量。因此,能够减轻步行辅助装置2的重力负荷,并且能够更佳地减轻在佩戴有步行辅助装置2的腿部开始摆动时对该腿部施加的负担。
并且,上述实施方式中,动作判定部357在由设置于第一线卷取机构33的第一收纳量检测部40检测到的第一线卷取机构33的线收纳量成为所设定了的摆动时刻判定阈值以下时,判定为腿部开始朝前方摆动的时刻,但并不限于此。动作判定部357也可以在由设置于第二线卷取机构38的第二收纳量检测部42检测到的第二线卷取机构38的线收纳量成为所设定了的摆动时刻判定阈值以下时,判定为腿部开始朝前方摆动的时刻。
根据以上的本发明的说明可知本发明能够进行各种变形。不应认为这样的变形脱离本发明的构思以及范围,并且,对于所有的本领域技术人员而言,不言而喻那样的改进也包括在保护范围内。
Claims (9)
1.一种步行训练装置,具备:
步行辅助装置,该步行辅助装置被佩戴于训练者的腿部,对该训练者的步行动作进行辅助;
第一线卷取机构,该第一线卷取机构是通过卷取直接连接于所述腿部或者经由所述步行辅助装置连接于所述腿部的第一线而将所述腿部的第一线朝上方且朝前方拉伸的机构,且构成为:在所述训练者的步行动作中所述腿部成为摆动腿状态的摆动腿期间卷取并收纳所述第一线,且在所述训练者的步行动作中所述腿部成为支撑腿状态的支撑腿期间将所述第一线拉出;
拉伸控制单元,该拉伸控制单元控制所述第一线卷取机构以便以第一拉伸力对所述第一线进行拉伸,由此来降低所述步行辅助装置的重量;以及
收纳量检测单元,该收纳量检测单元对卷取并收纳于所述第一线卷取机构的所述第一线的收纳量进行检测,
所述步行训练装置的特征在于,
在由所述收纳量检测单元检测到的所述第一线的收纳量成为包括所述第一线卷取机构的第一线从拉出状态朝卷取状态变化的时刻在内的期间中的所述第一线的规定收纳量以下的摆动开始期间,
所述拉伸控制单元控制所述第一线卷取机构,以便代替所述第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对所述第一线进行拉伸。
2.根据权利要求1所述的步行训练装置,其特征在于,
所述摆动开始期间是:从所述第一线卷取机构的最大的线的收纳量减去由所述收纳量检测单元检测到的第一线的收纳量而得的值为包括所述第一线卷取机构的第一线从拉出状态朝卷取状态变化的时刻在内的期间中的所述第一线的规定收纳量与所述最大的线的收纳量之间的规定差量以上的期间。
3.根据权利要求2所述的步行训练装置,其特征在于,
所述拉伸控制单元在每个所述摆动腿期间更新所述第一线卷取机构的最大的线的收纳量。
4.根据权利要求1~3中任一项所述的步行训练装置,其特征在于,
还具备第二线卷取机构,该第二线卷取机构是通过卷取直接连接于所述腿部或者经由所述步行辅助装置连接于所述腿部的第二线而将所述腿部的第二线朝上方且朝后方拉伸的机构,且构成为:在所述腿部的支撑腿期间卷取并收纳所述第二线,并在所述腿部的摆动腿期间将所述第二线拉出,
在由所述收纳量检测单元检测到的所述第一线的收纳量成为包括所述第一线卷取机构的第一线从拉出状态朝卷取状态变化的时刻在内的期间中的所述第一线的规定收纳量以下的摆动开始期间,
所述拉伸控制单元使所述第一线卷取机构以及所述第二线卷取机构的拉伸力的水平前方分量增加。
5.根据权利要求1~3中任一项所述的步行训练装置,其特征在于,
还具备第二线卷取机构,该第二线卷取机构是通过卷取直接连接于所述腿部或者经由所述步行辅助装置连接于所述腿部的第二线而将所述腿部的第二线朝上方且朝后方拉伸的机构,且构成为:在所述腿部的支撑腿期间卷取并收纳所述第二线,并在所述腿部的摆动腿期间将所述第二线拉出,
即便在由所述收纳量检测单元检测到的所述第一线的收纳量成为包括所述第一线卷取机构的第一线从拉出状态朝卷取状态变化的时刻在内的期间中的所述第一线的规定收纳量以下的摆动开始期间,
所述拉伸控制单元也使所述第二线卷取机构的拉伸力为恒定值而不变。
6.根据权利要求4或5所述的步行训练装置,其特征在于,
所述摆动开始期间是:由设置于所述第二线卷取机构的第二收纳量检测部检测到的所述第二线卷取机构的第二线收纳量成为设定的规定收纳量以下的期间。
7.根据权利要求1~6中任一项所述的步行训练装置,其特征在于,
还具备通过将连接于所述训练者的腰部的线朝上方拉伸而将所述训练者的腰部朝上方拉伸的线卷取机构。
8.根据权利要求1~7中任一项所述的步行训练装置,其特征在于,
所述规定收纳量被设定成所述第一线卷取机构的所述第一线从拉出状态朝卷取状态变化的时刻的所述第一线的收纳量以上。
9.一种步行训练装置的步行训练方法,其中,该步行训练装置具备:
步行辅助装置,该步行辅助装置被佩戴于训练者的腿部,对该训练者的步行动作进行辅助;
第一线卷取机构,该第一线卷取机构是通过卷取直接连接于所述腿部或者经由所述步行辅助装置连接于所述腿部的第一线而将所述腿部的第一线朝上方且朝前方拉伸的机构,且构成为:在所述训练者的步行动作中所述腿部成为摆动腿状态的摆动腿期间卷取并收纳所述第一线,且在所述训练者的步行动作中所述腿部成为支撑腿状态的支撑腿期间将所述第一线拉出;
拉伸控制单元,该拉伸控制单元控制所述第一线卷取机构以便以第一拉伸力对所述第一线进行拉伸,由此来降低所述步行辅助装置的重量;以及
收纳量检测单元,该收纳量检测单元对卷取并收纳于所述第一线卷取机构的所述第一线的收纳量进行检测,
所述步行训练装置的步行训练方法的特征在于,
在由所述收纳量检测单元检测到的所述第一线的收纳量成为包括所述第一线卷取机构的第一线从拉出状态朝卷取状态变化的时刻在内的期间中的所述第一线的规定收纳量以下的摆动开始期间,
控制所述第一线卷取机构,以便代替所述第一拉伸力而以被设定为比该第一拉伸力大的第二拉伸力对所述第一线进行拉伸。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015178278A JP6323420B2 (ja) | 2015-09-10 | 2015-09-10 | 歩行訓練装置、及びその作動方法 |
JP2015-178278 | 2015-09-10 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107019618A true CN107019618A (zh) | 2017-08-08 |
CN107019618B CN107019618B (zh) | 2020-01-10 |
Family
ID=56618060
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610815716.6A Expired - Fee Related CN107019618B (zh) | 2015-09-10 | 2016-09-09 | 步行训练装置以及该步行训练装置的步行训练方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10251804B2 (zh) |
EP (1) | EP3141233B1 (zh) |
JP (1) | JP6323420B2 (zh) |
CN (1) | CN107019618B (zh) |
SI (1) | SI3141233T1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112137839A (zh) * | 2019-06-27 | 2020-12-29 | 丰田自动车株式会社 | 学习系统、步行训练系统、方法、程序、以及学习完毕模型 |
CN112476409A (zh) * | 2019-09-12 | 2021-03-12 | 株式会社捷太格特 | 辅助装置 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6323419B2 (ja) * | 2015-09-09 | 2018-05-16 | トヨタ自動車株式会社 | 歩行訓練装置 |
JP6458795B2 (ja) | 2016-12-08 | 2019-01-30 | トヨタ自動車株式会社 | 歩行訓練装置 |
JP6662321B2 (ja) | 2017-02-08 | 2020-03-11 | トヨタ自動車株式会社 | 歩行訓練装置及びその作動方法 |
GB2565100B (en) * | 2017-08-01 | 2022-04-20 | Univ Limerick | Method and apparatus for false start detection |
JP6958374B2 (ja) | 2018-01-18 | 2021-11-02 | トヨタ自動車株式会社 | 歩行訓練装置、及びその制御方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006017926A1 (en) * | 2004-08-20 | 2006-02-23 | UNIVERSITé LAVAL | Locomotion simulation system and method |
CN201231035Y (zh) * | 2008-07-22 | 2009-05-06 | 张庆军 | 双肩平衡减重悬挂训练装置 |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
US20130158444A1 (en) * | 2011-12-20 | 2013-06-20 | Massachusetts Institute Of Technology | Robotic System for Simulating a Wearable Device and Method of Use |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6302829B1 (en) * | 1996-05-31 | 2001-10-16 | David H. Schmidt | Speed-control exercise method and apparatus |
DE19851511A1 (de) * | 1998-11-09 | 2000-05-11 | Steinacker Juergen M | Trainingsgerät |
US7524272B2 (en) * | 2006-06-12 | 2009-04-28 | Johnson Health Tech Co., Ltd. | Exercise machine with semi-dependent retraction system |
US7857779B2 (en) * | 2008-03-06 | 2010-12-28 | Gondringer Chad J | Traction device for use in surgery |
US7887471B2 (en) * | 2008-11-25 | 2011-02-15 | Mcsorley Tyrone G | Neuromuscular training apparatus and method of use |
JP2012095793A (ja) * | 2010-11-01 | 2012-05-24 | Toyota Motor Corp | 歩行訓練システム |
DE202010015329U1 (de) * | 2010-11-12 | 2011-02-24 | Harrer, Franz | Laufbandergometer mit adaptierten Zug- und Messeinheiten für therapeutische Anwendungen und zur Gangschule sowie Lauftraining |
JP6052234B2 (ja) * | 2014-05-27 | 2016-12-27 | トヨタ自動車株式会社 | 歩行訓練装置 |
-
2015
- 2015-09-10 JP JP2015178278A patent/JP6323420B2/ja active Active
-
2016
- 2016-08-10 EP EP16183514.5A patent/EP3141233B1/en active Active
- 2016-08-10 SI SI201630700T patent/SI3141233T1/sl unknown
- 2016-09-09 CN CN201610815716.6A patent/CN107019618B/zh not_active Expired - Fee Related
- 2016-09-12 US US15/263,025 patent/US10251804B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006017926A1 (en) * | 2004-08-20 | 2006-02-23 | UNIVERSITé LAVAL | Locomotion simulation system and method |
CN201231035Y (zh) * | 2008-07-22 | 2009-05-06 | 张庆军 | 双肩平衡减重悬挂训练装置 |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
US20130158444A1 (en) * | 2011-12-20 | 2013-06-20 | Massachusetts Institute Of Technology | Robotic System for Simulating a Wearable Device and Method of Use |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112137839A (zh) * | 2019-06-27 | 2020-12-29 | 丰田自动车株式会社 | 学习系统、步行训练系统、方法、程序、以及学习完毕模型 |
CN112137839B (zh) * | 2019-06-27 | 2023-08-01 | 丰田自动车株式会社 | 学习系统、步行训练系统、方法、程序、以及学习完毕模型 |
CN112476409A (zh) * | 2019-09-12 | 2021-03-12 | 株式会社捷太格特 | 辅助装置 |
Also Published As
Publication number | Publication date |
---|---|
JP2017051464A (ja) | 2017-03-16 |
EP3141233A1 (en) | 2017-03-15 |
SI3141233T1 (sl) | 2020-07-31 |
US20170071813A1 (en) | 2017-03-16 |
US10251804B2 (en) | 2019-04-09 |
JP6323420B2 (ja) | 2018-05-16 |
EP3141233B1 (en) | 2020-03-25 |
CN107019618B (zh) | 2020-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107019618A (zh) | 步行训练装置以及该步行训练装置的步行训练方法 | |
CN106466219B (zh) | 步态状态确定设备、步态状态确定方法以及步行训练设备 | |
CN105125374B (zh) | 步行训练器械及其步行训练方法 | |
CN106420255B (zh) | 步行训练设备和用于该设备的步行训练方法 | |
JP6248818B2 (ja) | 歩行訓練装置 | |
JP6421777B2 (ja) | 歩行補助装置、及びその作動方法 | |
JP2018050945A (ja) | 歩行訓練装置およびその制御方法 | |
CN109621297B (zh) | 步行训练系统和控制步行训练系统的方法 | |
JP6645253B2 (ja) | 歩行訓練装置及びその制御方法 | |
JP6443301B2 (ja) | 歩行訓練装置 | |
JP6398928B2 (ja) | 歩行訓練装置 | |
JP6787425B2 (ja) | 歩行訓練装置及びその制御方法 | |
JP6958205B2 (ja) | 歩行訓練システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200110 |