CN113893139A - Walking support system - Google Patents

Abstract

The present invention provides a walking support system, comprising: a walking support robot that supports walking for a user; a walking state acquisition unit that acquires a walking state of a user who walks using the walking support robot; a perception information output unit that outputs, to a user, perceptible stimulus information including at least one of sound, light, vibration, and music when the user walks using the walking support robot; and a sensory output adjustment unit that adjusts the output of the stimulus information by the sensory information output unit based on the walking state acquired by the walking state acquisition unit.

Description

Walking support system

Technical Field

The present disclosure relates to a walking support system.

Background

Various techniques for supporting walking of elderly people and the like have been proposed. For example, a walking assist vehicle described in japanese patent application laid-open No. 2016-. The walking assist vehicle further includes a force detection unit for detecting a force with which the user pushes the handle and a force with which the user pulls the handle. When the used distance between the base and the user is smaller than the distance threshold value, the walking assist vehicle is configured to advance in accordance with the walking of the user and pull the user with the handle to assist the walking.

On the other hand, the walking assist vehicle is configured to decelerate by applying a brake in order to prevent the user from falling down when the used distance between the base and the user is greater than the distance threshold value. In addition, when the force with which the user presses the handle is larger than the threshold value of the supporting force for a certain period of time, the walking assist vehicle determines that the pedestrian is in a forward-leaning state, and the pedestrian may continue to fall over the handle. The walking assist vehicle is configured to slowly move backward toward the user and return the user from a forward-leaning state to an upright state to prevent the user from falling down.

However, in the walking assist vehicle described in japanese patent application laid-open No. 2016-63980, the elderly or the like can easily walk by using the walking assist vehicle, but does not have a function of improving the walking ability of the body. In other words, the walking assist vehicle can easily walk, but does not have a function of improving the walking ability by walking using the walking assist vehicle, and therefore has a problem that the walking ability of elderly persons or the like who use the walking assist vehicle gradually decreases.

Therefore, a walking support robot that can be used by a user to improve walking ability is considered (for example, see japanese patent application laid-open No. 2019-146951). However, there is a problem that it is difficult for the user to continue walking with interest in walking using such a walking support robot. Further, there is a problem that it is difficult for the user to easily determine whether or not the user can perform effective walking using the walking support robot.

Disclosure of Invention

The present disclosure has been made in view of the above-described circumstances, and an object of the present disclosure is to provide a walking support system capable of causing a user to be interested in walking using a walking support robot and continuing to use the walking of the walking support robot.

A first aspect of the present disclosure is a walking support system including: a walking support robot that supports walking for a user; a walking state acquisition unit that acquires a walking state of the user who walks using the walking support robot; a perception information output unit that outputs, to the user, perceptible stimulus information including at least one of sound, light, vibration, and music when the user walks using the walking support robot; and a sensory output adjustment unit that adjusts output of the stimulation information by the sensory information output unit based on the walking state acquired by the walking state acquisition unit.

According to the first aspect, when the user walks using the walking support robot, the perceptible stimulus information including at least one of sound, light, vibration, and music is output. The output of the sensible stimulation information is adjusted based on the walking state of the user who walks using the walking support robot. Thus, the user can clarify the walking state of the user from the output state of the sensible stimulation information, and can make the user interested in walking using the walking support robot, thereby enabling the user to continue walking using the walking support robot. In addition, the user can recognize the sensible stimulation information and perform walking using the walking support robot, and the user can expect a positive influence on the cognitive function.

A second aspect of the present disclosure is directed to a walking support system of the first aspect, wherein the walking support robot includes a pair of left and right swing arm mechanisms that the user can operate when performing swing arm walking, the walking state includes walking speed or swing arm-related speed related to a swing arm in a swing arm walking state in which the user operates the pair of swing arm mechanisms to perform walking, the output based on the stimulus information of the perception information output unit includes a volume of the music to be played, and the perception output adjustment unit includes: a first storage unit that stores a reference predetermined speed related to the swing arm speed or the walking speed of the user in advance; and a second storage unit that stores reference volume for playing the music in advance, wherein the sensing output adjustment unit sets the volume of the music to a volume smaller than the reference volume based on the swing-arm-related speed or the walking speed of the user, which is acquired by the walking state acquisition unit, when the swing-arm-related speed or the walking speed of the user is slower than the reference predetermined speed.

According to the second aspect, when the walking speed of the user or the swing arm related speed of the swing arm in the swing arm walking state in which the pair of swing arm mechanisms are operated to walk is slower than a reference predetermined speed, the volume of the music is set to a volume smaller than the reference volume according to the swing arm related speed or the walking speed of the user. Therefore, the user who performs the walking training using the walking support robot can quickly confirm whether or not the swing arm-related speed or the walking speed of the user is slower than the reference predetermined speed, based on the volume of the music.

Thus, the user can walk at the swing arm related speed or the walking speed at the reference predetermined speed or more in an effort to keep the volume of music from being lower than the reference volume, thereby continuing walking. In other words, the user can be interested in walking using the walking support robot, and the walking ability can be improved by sustaining the walking using the walking support robot.

A third aspect of the present disclosure is directed to a walking support system of the second aspect, wherein the sensing output adjustment unit includes: an elapsed time measuring unit that measures an elapsed time from when the swing-arm-related speed or the walking speed of the user becomes slower than the reference predetermined speed; and an elapsed time determination unit configured to determine whether or not the elapsed time measured by the elapsed time measurement unit is equal to or longer than a predetermined time, wherein the perception output adjustment unit is configured to maintain the volume of the music when the swing-arm-related speed or the walking speed of the user becomes slower than the reference predetermined speed when the elapsed time determination unit determines that the elapsed time is shorter than the predetermined time, and configured to set the volume of the music to a volume smaller than the reference volume based on the swing-arm-related speed or the walking speed of the user when the elapsed time determination unit determines that the elapsed time is equal to or longer than the predetermined time.

According to the third aspect, when it is determined that the elapsed time from when the swing arm related speed or walking speed of the user becomes slower than the reference predetermined speed is less than the predetermined time, the volume of the music is set to the volume when the swing arm related speed or walking speed of the user becomes slower than the reference predetermined speed. On the other hand, when it is determined that the elapsed time from when the swing arm related speed or walking speed of the user becomes slower than the reference predetermined speed is equal to or longer than the predetermined time, the volume of the music is set to a volume smaller than the reference volume according to the swing arm related speed or walking speed of the user. This can absorb the variation in walking speed of the user, and can effectively improve the power for the user to walk at a swing arm-related speed or walking speed equal to or higher than a reference predetermined speed. Further, the user can be effectively made interested in walking using the walking support robot.

A fourth aspect of the present disclosure is directed to the walking support system of the second or third aspect, wherein the sensing output adjustment unit sets the volume of the music to the reference volume when the swing arm-related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed.

According to the fourth aspect, since the volume of the music is set to the reference volume when the swing arm related speed or the walking speed of the user is equal to or higher than the reference predetermined speed, the user can easily recognize that the user walks in a walking state where the swing arm related speed or the walking speed is equal to or higher than the reference predetermined speed using the walking support robot. Therefore, the user can enjoy walking in a walking state in which the swing arm related speed or the walking speed is equal to or higher than the reference predetermined speed while listening to music, and can improve the walking ability by enduring the walking using the walking support robot.

A fifth aspect of the present disclosure is a walking support system according to any one of the second to fourth aspects, wherein the perception output adjustment unit starts playing the music at the reference volume when the swing arm related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed at a start of walking of the user using the walking support robot.

According to the fifth aspect, when the user starts walking using the walking support robot, the music playback is started at the reference volume level when the swing-arm-related speed or walking speed of the user is equal to or higher than the reference predetermined speed. Thus, the user can confirm that the swing arm related speed or walking speed of the walking using the walking support robot reaches the reference predetermined speed, and can effectively increase the power for walking at a swing arm related speed or walking speed that is equal to or higher than the reference predetermined speed. Further, the user can be effectively made interested in walking using the walking support robot.

A sixth aspect of the present disclosure is directed to a walking support system of the first aspect, wherein the walking support robot includes a pair of left and right swing arm mechanism units that the user can operate when performing swing arm walking, the walking state includes a walking speed or a swing arm related speed related to a swing arm in a swing arm walking state in which the user performs swing arm walking by operating the pair of swing arm mechanism units, the output based on the stimulus information of the perception information output unit includes a playback speed at which the music is played, and the perception output adjustment unit includes: a first storage unit that stores a reference predetermined speed related to the swing arm speed or the walking speed of the user in advance; and a third storage unit that stores a reference playback speed at which the music is played back in advance, wherein the perception output adjustment unit sets the playback speed of the music to a playback speed slower than the reference playback speed based on the swing arm related speed or the walking speed of the user, which are acquired by the walking state acquisition unit, when the swing arm related speed or the walking speed of the user is slower than the reference predetermined speed.

According to the sixth aspect, when the user's walking speed or the swing arm related speed of the swing arm in the swing arm walking state in which the pair of swing arm mechanisms are operated to walk is slower than the reference predetermined speed, the music playback speed is set to be slower than the reference playback speed in accordance with the user's swing arm related speed or walking speed. Therefore, the user walking using the walking support robot can quickly check whether the swing arm related speed or the walking speed of the user is slower than the reference predetermined speed, based on the music playback speed.

Thus, the user can walk at a swing arm related speed or a walking speed equal to or higher than the reference predetermined speed so that the music playback speed is not slower than the reference playback speed, and can continue walking. In other words, the user can be interested in walking using the walking support robot, and the walking ability can be improved by sustaining the walking using the walking support robot.

A seventh aspect of the present disclosure is a walking support system according to the sixth aspect, wherein the perception output adjustment unit sets the music playback speed to the reference playback speed when the swing arm related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed.

According to the seventh aspect, since the music playback speed is set to the reference playback speed when the swing arm related speed or the walking speed of the user is equal to or higher than the reference predetermined speed, the user can reliably walk while listening to music when walking in a walking state in which the swing arm related speed or the walking speed is equal to or higher than the reference predetermined speed using the walking support robot. Therefore, the user can enjoy walking in a walking state in which the swing arm related speed or the walking speed is equal to or higher than the reference predetermined speed while listening to music, and can improve the walking ability by enduring the walking using the walking support robot.

An eighth aspect of the present disclosure is directed to the walking support system of the sixth or seventh aspect, wherein the perception output adjustment unit starts the playing of the music at the reference playing speed when the swing arm related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed at the start of the walking of the user using the walking support robot.

According to the eighth aspect, when the user starts walking using the walking support robot and the swing arm related speed or walking speed of the user is equal to or higher than the reference predetermined speed, the music playback is started at the reference playback speed. Thus, the user can confirm that the swing arm related speed or walking speed of the walking using the walking support robot reaches the reference predetermined speed, and can effectively increase the power for walking at a swing arm related speed or walking speed that is equal to or higher than the reference predetermined speed. Further, the user can be effectively made interested in walking using the walking support robot.

A ninth aspect of the present disclosure is directed to a walking support system according to any one of the second to eighth aspects, wherein the walking support robot includes: a frame; a plurality of wheels including a driving wheel provided to the frame; a drive device for driving the drive wheel; a travel control device that drives and controls the drive device; and a travel speed detection device for detecting a travel speed, wherein the pair of right and left swing arm mechanism portions includes: a pair of left and right grips attached to respective rear end portions of a pair of left and right handles extending in the front-rear direction with respect to the frame; and a pair of movement amount detection means for detecting the amount of movement in the front-rear direction of each of the pair of handles, wherein the walking state acquisition unit acquires the swing arm-related speed based on the amount of movement in the front-rear direction of each of the pair of handles detected by the pair of movement amount detection means, or acquires the walking speed based on the running speed detected by the running speed detection means.

According to the ninth aspect, in the swing arm walking in which the user grips the pair of left and right grips and walks while swinging the arms together with the grips, the walking support robot can acquire the swing arm-related speed based on the amount of movement in the front-rear direction of each of the pair of handles detected by the pair of movement amount detection devices. The walking support robot can acquire the walking speed based on the traveling speed detected by the traveling speed detection device.

Thus, the walking support robot can adjust the output state of the sensible stimulation information according to the swing arm related speed or walking speed of the user. As a result, the user can clarify the walking state of the user from the output state of the sensible stimulation information, and can make the user interested in walking using the walking support robot, thereby enabling the user to continue walking using the walking support robot. In other words, the user can be interested in walking using the walking support robot, and the walking ability can be improved by sustaining the walking using the walking support robot.

A tenth aspect of the present disclosure is directed to the walking support system of any one of the second to ninth aspects, wherein the sensing output adjustment unit includes: a target walking cycle setting unit that sets a target walking cycle based on the reference predetermined speed; a periodic stimulation information setting unit that sets perceivable periodic stimulation information based on the target walking cycle; and a walking timing teaching unit configured to output the periodic stimulation information via the sensory information output unit to teach a user timing of walking when the music is output.

According to the tenth aspect, the target walking cycle is set based on the reference predetermined speed of the user. When music is output, the perceivable periodic stimulation information (for example, a rhythm sound of a metronome with a constant period, a rhythm sound of a musical instrument, a sound of drinking, and the like) set based on the target walking period is output via the perception information output unit, and the walking timing of the user is taught. Thus, when walking using the walking support robot, the user can walk at the walking timing taught to improve the walking speed, and thus the walking ability can be improved. Further, the user can easily grasp the timing of walking by walking based on the taught timing of walking, and can easily perform walking with improved walking speed.

An eleventh aspect of the present disclosure is directed to the walking support system of any one of the first to tenth aspects, wherein the walking support robot includes a device communication device, the walking support system includes a mobile terminal having a terminal communication device capable of communicating with the device communication device, and the mobile terminal includes the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit.

According to the eleventh aspect, the mobile terminal (for example, a smartphone or a tablet PC) can output the sensible stimulation information when the user walks using the walking support robot. The mobile terminal adjusts the output of the sensible stimulation information based on the walking state of the user who walks using the walking support robot. Therefore, with a simple configuration, the user can know the walking state of the user from the output state based on the sensible stimulation information of the mobile terminal while walking using the walking support robot. This makes it possible to more effectively make the user interested in walking using the walking support robot and to continue walking using the walking support robot.

A twelfth aspect of the present disclosure is directed to a walking support system according to any one of the second to tenth aspects, wherein the walking support robot includes a device communication device, and the walking support system includes: a mobile terminal having a terminal communication device capable of communicating with the device communication device; and a server having a server communication device capable of communicating with the terminal communication device, wherein the mobile terminal has the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit, and further has: a terminal transmission unit that transmits the walking speed of the user or the swing arm-related speed in the swing arm walking state acquired by the walking state acquisition unit to the server via the terminal communication device; and a terminal receiving unit configured to receive music information related to the music and the reference predetermined tempo of the user, wherein the server includes: a server receiving unit that receives the walking speed of the user or the swing arm-related speed in the swing arm walking state via the server communication device; a reference predetermined speed setting unit that sets the reference predetermined speed of the user based on the walking speed of the user or the swing arm related speed in the swing arm walking state received by the server receiving unit; a music information storage unit for storing a plurality of pieces of music information related to the music; a music information selecting unit that selects music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit; and a server transmission unit configured to transmit the reference predetermined tempo of the user set by the reference predetermined tempo setting unit and the music information corresponding to the user selected by the music information selection unit to the mobile terminal via the server communication device.

According to the twelfth aspect, the mobile terminal transmits the swing arm related speed or the walking speed of the user acquired by the walking state acquisition unit to the server. On the other hand, the server sets a reference predetermined speed of the user based on the received swing arm related speed or walking speed of the user. In addition, the server selects music information corresponding to the user. Then, the server transmits the reference predetermined speed of the user and the music information corresponding to the user to the mobile terminal. Then, the mobile terminal stores the reference predetermined speed received from the server in the first storage unit, and outputs the music information received from the server.

In this way, the server executes the process of setting the reference predetermined speed of the user based on the swing arm related speed or walking speed of the user acquired by the walking state acquisition unit, and thus the processing load on the mobile terminal can be reduced. In addition, the server can transmit the reference predetermined speed of the user to other processing devices as well as the mobile terminal. Further, the user can specify the swing arm related speed or walking speed state of the user from the output state of the music information of the mobile terminal while walking by using the walking support robot. This makes it possible to more effectively make the user interested in walking using the walking support robot and to continue walking using the walking support robot.

A thirteenth aspect of the present disclosure is directed to the walking support system of the twelfth aspect, wherein the music information selection unit selects a predetermined number of pieces of music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit, and the server transmission unit transmits the reference predetermined speed and the predetermined number of pieces of music information corresponding to the user to the mobile terminal via the server communication device, and the mobile terminal includes: a first music storage unit that stores a predetermined number of pieces of music information received via the terminal receiving unit; and a first selection receiving unit that receives a selection of one piece of music information from a predetermined number of pieces of music information stored in the first music storage unit, and the perceptual information output unit outputs the piece of music information selected by the first selection receiving unit.

According to the thirteenth aspect, the user can select one piece of music information from the predetermined number of pieces of music information stored in the first music storage unit of the mobile terminal via the first selection receiving unit, and can play the selected one piece of music information when walking using the walking support robot. Therefore, the user can specify the swing arm related speed or walking speed state of the user from the output state of the selected piece of music information while walking using the walking support robot. This makes it possible to more effectively make the user interested in walking using the walking support robot and to continue walking using the walking support robot.

A fourteenth aspect of the present disclosure is a walking support system according to any one of the eleventh to thirteenth aspects, wherein the walking support robot includes a mounting member to which the mobile terminal is detachably mounted.

According to the fourteenth aspect, the mobile terminal is detachably attached to the attachment member provided to the walking support robot. As a result, the communication distance between the device communication device of the walking support robot and the terminal communication device of the mobile terminal can be shortened, and communication can be performed reliably. In addition, the user can easily operate the mobile terminal while walking using the walking support robot. When the walking using the walking support robot is completed, the user can remove the mobile terminal from the attachment member and move the mobile terminal.

A fifteenth aspect of the present disclosure is a walking support system according to any one of the second to tenth aspects, wherein the walking support robot includes a device communication device, the walking support system includes a server having a server communication device capable of communicating with the device communication device, the walking support robot includes the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit, and includes: a device transmitting unit that transmits the walking speed of the user or the swing arm-related speed in the swing arm walking state acquired by the walking state acquiring unit to the server via the device communication device; and a device receiving unit configured to receive music information related to the music and the reference predetermined tempo related to the user, wherein the server includes: a server receiving unit that receives the walking speed of the user or the swing arm-related speed in the swing arm walking state via the server communication device; a reference predetermined speed setting unit that sets the reference predetermined speed of the user based on the walking speed of the user or the swing arm related speed in the swing arm walking state received by the server receiving unit; a music information storage unit for storing a plurality of pieces of music information related to the music; a music information selecting unit that selects music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit; and a server transmission unit that transmits the reference predetermined speed of the user set by the reference predetermined speed setting unit and the music information corresponding to the user selected by the music information selection unit to the walking support robot via the server communication device.

According to a fifteenth aspect, the walking support robot transmits the walking speed of the user or the swing arm related speed in the swing arm walking state acquired by the walking state acquisition unit to the server. On the other hand, the server sets a reference predetermined speed of the user based on the received walking speed or swing arm related speed of the user. In addition, the server selects music information corresponding to the user. Then, the server transmits the reference predetermined speed of the user and the music information corresponding to the user to the walking support robot. Then, the walking support robot stores the reference predetermined speed received from the server in the first storage unit, and outputs the music information received from the server.

In this way, the server executes the process of setting the reference predetermined speed of the user based on the swing arm related speed or the walking speed of the user acquired by the walking state acquisition unit, and thus the processing load on the walking support robot can be reduced. In addition, the reference predetermined speed of the user may be transmitted from the server to other processing devices as well as the walking support robot. Further, the user can specify the swing arm related speed or walking speed state of the user from the output state of the music information of the walking support robot while walking by using the walking support robot. This makes it possible to more effectively make the user interested in walking using the walking support robot and to continue walking using the walking support robot.

A sixteenth aspect of the present disclosure is directed to the walking support system of the fifteenth aspect, wherein the music information selection unit selects a predetermined number of pieces of music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit, and the server transmission unit transmits the reference predetermined speed and the predetermined number of pieces of music information corresponding to the user to the walking support robot via the communication device for server, and wherein the walking support robot includes: a second music storage unit for storing a predetermined number of pieces of the music information received by the device receiving unit; and a second selection receiving unit that receives a selection of one piece of music information from a predetermined number of pieces of music information stored in the second music storage unit, and the perceptual information output unit outputs the piece of music information selected by the second selection receiving unit.

According to the sixteenth aspect, the user can select one piece of music information from the predetermined number of pieces of music information stored in the second music information storage unit of the walking support robot via the second selection receiving unit, and can play the selected one piece of music information when the user walks using the walking support robot. Therefore, the user can specify the swing arm related speed or walking speed state of the user from the output state of the selected piece of music information while walking using the walking support robot. This makes it possible to more effectively make the user interested in walking using the walking support robot and to continue walking using the walking support robot.

A seventeenth aspect of the present disclosure is directed to the walking support system of any one of the first to fifth aspects, wherein the perception information output unit periodically outputs the stimulus information, and the perception output adjustment unit gradually approaches the target walking cycle from a cycle longer than a predetermined target walking cycle when the user starts walking.

According to the seventeenth aspect, the period in which the stimulus information is output at the start of walking of the user is close to the preset target walking period from the period in which the user walks. This enables the user to gradually increase the pace of walking. Therefore, the user can be interested in walking using the walking support robot, and the walking ability can be improved by sustaining the walking using the walking support robot.

An eighteenth aspect of the present disclosure is directed to the walking support system of the seventeenth aspect, wherein the walking support robot includes a pair of left and right swing arm mechanism units that the user can operate when performing swing arm walking, the walking state includes a walking cycle in a swing arm walking state in which the pair of swing arm mechanism units are operated to perform walking, and the perception output adjustment unit matches a cycle in which the stimulus information is output with the walking cycle of the user when the walking cycle of the user acquired by the walking state acquisition unit is within a predetermined range including the target walking cycle.

According to the eighteenth aspect, when the walking cycle of the user is limited to a predetermined range, the cycle of outputting the stimulus information coincides with the walking cycle. This enables the user to walk at his or her own pace.

A nineteenth aspect of the present disclosure is a walking support system according to the eighteenth aspect, wherein the sensation output adjustment unit gradually approximates the period of outputting the stimulation information to the target walking period from a period longer than the target walking period, when the period of the walking of the user acquired by the walking state acquisition unit is longer than the longest period of the range.

According to the nineteenth aspect, when the period of walking of the user is longer than the longest period of the predetermined range, the period of outputting the stimulation information gradually approaches the target walking period from a period longer than the target walking period. This allows the user to gradually increase the pace of walking even when the walking cycle is slow.

A twentieth aspect of the present disclosure is a walking support system according to the eighteenth or nineteenth aspect, wherein the walking state acquisition unit acquires, as the walking cycle, a cycle corresponding to a cycle in which a heel of the user touches a ground surface and lands on the ground.

According to the twentieth aspect, since the stimulus information is output according to a cycle corresponding to a cycle of heel landing, the user can walk with good timing.

A twenty-first aspect of the present disclosure is directed to the walking support system of any one of the seventeenth aspect to the twentieth aspect, wherein the sensory information output unit switches an output mode of the stimulation information every time the stimulation information is output.

According to the twenty-first mode, the output mode is switched every time the stimulation information is output. This makes it easy for the user to determine which of the left and right arms or legs should be operated.

A twenty-second aspect of the present disclosure is directed to the walking support system of any one of the seventeenth aspect to the twenty-first aspect, wherein the perception information output unit changes an output mode of the stimulation information in accordance with a difference between the target walking cycle and the walking cycle of the user acquired by the walking state acquisition unit.

According to the twenty-second aspect, the output mode of the stimulation information changes in accordance with the difference between the preset target walking cycle and the actual walking cycle, and therefore it is easy to recognize whether the walking cycle deviates from the target walking cycle or approaches the target walking cycle.

Drawings

Fig. 1 is a perspective view illustrating a schematic configuration of a walking support system according to a first embodiment.

Fig. 2 is a view illustrating the structure of the handle holding part, the handle, and the grip.

Fig. 3 is a block diagram showing a control configuration of the walking support robot.

Fig. 4 is a diagram illustrating the correspondence between the states of the left and right grips and the operation mode of the walking support robot.

Fig. 5 is a view showing an example of a lock-time drive table in which the operation force direction of each grip when the left and right grips are set in a fixed state and the correspondence between the travel modes are stored.

Fig. 6 is a diagram showing an example of a release-time drive table storing the correspondence between the swing arm amplitude and the travel pattern when the left and right grips are in the release state.

Fig. 7 is a block diagram showing a control configuration of the smartphone.

Fig. 8 is a diagram showing an example of a display screen of a smartphone.

Fig. 9 is a diagram showing an example of a display screen of a smartphone.

Fig. 10 is a block diagram showing a control configuration of the server.

Fig. 11 is a main flowchart showing an example of the "walking training support process" executed by the control device of the walking support robot.

Fig. 12 is a sub-flowchart showing an example of sub-processing of "traveling start determination processing" in fig. 11.

Fig. 13 is a sub-flowchart showing an example of sub-processing of the "travel control processing" in fig. 11.

Fig. 14 is a sub-flowchart showing an example of sub-processing of the "battery processing" in fig. 11.

Fig. 15 is a main flowchart showing an example of "first music output processing" executed by the control device of the smartphone.

Fig. 16 is a sub-flowchart showing an example of sub-processing of the "mode selection processing" in fig. 15.

Fig. 17 is a sub-flowchart showing an example of the sub-process of "start/stop process" in fig. 15.

Fig. 18 is a sub-flowchart showing an example of sub-processing of the "information acquisition processing" in fig. 15.

Fig. 19 is an explanatory diagram showing an example of the swing arm speed in the swing arm walking.

Fig. 20 is a sub-flowchart showing an example of sub-processing of the "music selection processing" in fig. 15.

Fig. 21 is a first sub-flowchart showing an example of sub-processing of the "music playing processing" in fig. 15.

Fig. 22 is a second sub-flowchart showing an example of sub-processing of the "music playing processing" in fig. 15.

Fig. 23 is a sub-flowchart showing an example of sub-processing of "volume-down processing" in fig. 21.

Fig. 24 is a sub-flowchart showing an example of sub-processing of "training information transmission processing" in fig. 22.

Fig. 25 is a timing chart showing an example of a change in the volume of the played music with respect to the average speed of the swing arm of the user.

Fig. 26 is a flowchart showing an example of "training information generation processing" executed by the control device of the server.

Fig. 27 is a main flowchart showing an example of "second music output processing" executed by the control device of the smartphone of the walking support system according to the second embodiment.

Fig. 28 is a sub-flowchart showing an example of sub-processing of "second music playing processing" in fig. 27.

Fig. 29 is a sub-flowchart showing an example of sub-processing of "playback speed reduction processing" in fig. 28.

Fig. 30 is a diagram showing an example of a play deceleration amount map used when the control device of the smartphone calculates the amount of deceleration of the play speed.

Fig. 31 is a timing chart showing an example of a change in the playback speed of the played music with respect to the average speed of the swing arm of the user.

Fig. 32 is a perspective view illustrating a schematic configuration of the walking support system according to the third embodiment.

Fig. 33 is a diagram showing an example of a display screen of the display device.

Fig. 34 is a block diagram showing a control configuration of the walking support robot of fig. 32.

Fig. 35 is a main flowchart showing an example of the "second-step training support process" executed by the control device of the walking support robot.

Fig. 36 is a sub-flowchart showing an example of the "second start/stop process" sub-process of fig. 35.

Fig. 37 is a sub-flowchart showing an example of sub-processing of the "second battery processing" in fig. 35.

Fig. 38 is a sub-flowchart showing an example of sub-processing of the "second travel control processing" in fig. 35.

Fig. 39 is a sub-flowchart showing an example of sub-processing of the "second information acquisition processing" in fig. 35.

Fig. 40 is a first sub-flowchart showing an example of sub-processing of the "third music playing processing" in fig. 35.

Fig. 41 is a second sub-flowchart showing an example of sub-processing of the "third music playing processing" in fig. 35.

Fig. 42 is a main flowchart showing an example of the "third-step training support process" executed by the control device of the walking support robot of the walking support system according to the fourth embodiment.

Fig. 43 is a sub-flowchart showing an example of sub-processing of "fourth music playing processing" of fig. 42.

Fig. 44 is a timing chart showing an example of changes in the volume of the played music with respect to the walking speed of the user in the walking support system according to the ninth embodiment.

Fig. 45 is a timing chart showing an example of a change in the playback speed of the music with respect to the walking speed of the user in the walking support system according to the ninth embodiment.

Fig. 46 is a flowchart showing an example of "periodic sound output processing" executed by the control device of the smartphone of the walking support system according to the fifth embodiment.

Fig. 47 is a diagram showing a relationship between elapsed time and the beat of the periodic tone.

Fig. 48 is a diagram showing a walking cycle of a person.

Fig. 49 is an explanatory diagram of the beat adjustment processing.

Fig. 50 is an explanatory diagram of the demodulation process.

Fig. 51 is an explanatory diagram showing a state in which the demodulation process fails.

Description of the reference numerals

1. 99, 101, 121, 141 … walking support system, 3, 102 … walking support robot, 5 … smartphone, 7 … network, 9 … server, 18 … installation component, 20L, 20R … handle, 21L, 21R … handle, 21LS, 21RS … movement amount detection device, 24L, 24R … operation unit, 25A, 25B … pressing component, 35, 37, 87, 97 … communication device, 40, 80, 93 … control device, 81, 104 … display, 82, 105 … speaker, 85, 107 … operation unit, 96 … storage device, 103 … display device.

Detailed Description

Hereinafter, a detailed description will be given based on first to fourth embodiments embodying the walking support system of the present disclosure with reference to the drawings. First, a walking support system 1 according to a first embodiment will be described with reference to fig. 1 to 26. In the drawings, when X, Y, and Z axes are shown, the axes are orthogonal to each other. Further, the X-axis direction indicates a direction toward the front as viewed from the walking support robot 3, the Y-axis direction indicates a direction toward the left as viewed from the walking support robot 3, and the Z-axis direction indicates a direction toward the upper as viewed from the walking support robot 3.

[ first embodiment ]

As shown in fig. 1, the walking support system 1 includes a walking support robot 3, a smartphone 5 (mobile terminal), and a server 9. The walking support robot 3 and the smartphone 5 are configured to be able to transmit and receive information data by wireless communication with each other via Bluetooth (registered trademark) or Wi-Fi (registered trademark). The smartphone 5 and the server 9 are configured to be capable of mutually transmitting and receiving information data by wireless communication via a network 7 such as the internet via Wi-Fi or the like. Instead of the smartphone 5, a tablet PC or the like may be used.

Next, a schematic configuration of the walking support robot 3 will be described with reference to fig. 1 and 2. As shown in fig. 1, the walking support robot 3 includes rotatable casters 31L and 31R, drive wheels 32L and 32R, frames 13L and 13R, electric motors 33L and 33R, a battery B, a control device 40, operation units 24L and 24R, a brake lever BKL, handle holding units 22L and 22R, a storage box 14, a bag 16, and the like.

Drive wheels 32L, 32R (rear wheels) are rotationally driven by electric motors 33L, 33R. The electric motors 33L and 33R are provided with travel speed detection devices 33LE and 33RE (travel speed detection devices). The travel speed detection devices 33LE and 33RE are, for example, encoders, and output detection signals corresponding to the rotations of the electric motors 33L and 33R to the control device 40. The control device 40 can detect the travel speed of the walking support robot 3 (the travel speed of the drive wheels 32L and 32R) with respect to the ground surface based on the detection signals from the travel speed detection devices 33LE and 33 RE. The control device 40 controls the electric motors 33L and 33R based on control signals from the travel speed detection devices 33LE and 33 RE.

The caster 31L and the drive wheel 32L are supported by the frame 13L extending in the front-rear direction, and the caster 31R and the drive wheel 32R are supported by the frame 13R extending in the front-rear direction. The frame 13L and the frame 13R are coupled by a coupling member 17. Further, a bag 16 is provided on the front side of the coupling member 17. The coupling member 17 is provided with a triaxial acceleration/angular velocity sensor 15S.

The triaxial acceleration/angular velocity sensor 15S measures acceleration for each of the three directions of the X-Y-Z axis, measures angular velocity of rotation about each of the three directions, and outputs a detection signal based on the measurement result to the control device 40. For example, when the walking support robot 3 travels on an inclined surface, the three-axis acceleration/angular velocity sensor 15S outputs detection signals corresponding to the inclination angles of the walking support robot 3 with respect to the X-Y-Z axes to the control device 40.

A slide body 12L capable of height adjustment in the vertical direction is provided on the frame 13L, and a slide body 12R capable of height adjustment in the vertical direction is provided on the frame 13R. Handle holding portions 22L and 22R are provided at the upper ends of the sliders 12L and 12R. The handle holding portion 22L holds the handle 21L slidably in the front-rear direction, and the handle holding portion 22R holds the handle 21R slidably in the front-rear direction. Further, opposite end portions of the elastically deformable coupling body 11 protruding forward are attached to the respective opposite side wall surfaces of the handle holding portions 22L and 22R.

Grips 20L and 20R for a user to grip (can grip) are provided at the rear ends of the handles 21L and 21R, respectively. The grips 20L and 20R are provided with both a grip extending in the front-rear direction and a grip extending upward, and the user can select one grip that is easy to grip to perform walking training. Further, brake levers BKL are provided to the grips 20L and 20R.

The grip 20L and the handle 21L held by the user's left hand form an operation portion 24L that can be reciprocated by the user's operation. The grip 20R and the handle 21R, which are held by the user at the right hand, constitute an operation portion 24R that can be reciprocated by the user's operation. Thus, a pair of operation portions 24L and 24R including the grips 20L and 20R and the handles 21L and 21R are provided on the left and right.

As shown in fig. 1 and 2, the grip holding portions 22L and 22R house movement amount detection devices 21LS and 21RS (e.g., encoders) that output detection signals corresponding to the forward and backward sliding of the grips 21L and 21R to the control device 40. When the movement amount detectors 21LS and 21RS are encoders, the encoders rotate in accordance with the forward and backward movement of the handles 21L and 21R (the operation units 24L and 24R), and output detection signals (pulse signals and the like) corresponding to the rotation to the controller 40. The control device 40 can detect how much the handles 21L and 21R are pushed or pulled (i.e., the swing arm state and the hand-pushed state) based on the detection signals from the movement amount detection devices 21LS and 21 RS.

As shown in fig. 1, the lever holding portions 22L and 22R have lock switching levers 23L and 23R that can switch between a "released state" in which the levers 21L and 21R are slidable in the front-rear direction and a "locked state" in which the levers 21L and 21R are prohibited from sliding in the front-rear direction. As shown in fig. 2, the grips 21L and 21R are pressed by pressing members 25A and 25B of an elastic body such as a spring so as to be at a predetermined grip reference position Mz with respect to the grip holding portions 22L and 22R. As shown in fig. 2, the grips 21L and 21R are provided as a pair on the left and right sides, and are held slidably in the front-rear direction by the rollers 25R and the movement amount detectors 21LS and 21 RS.

As shown in fig. 1, the lock switching levers 23L, 23R are provided to be slidable in the front-rear direction. The lever holding portions 22L and 22R have slide detection switches 23LS and 23RS (for example, push switches) for outputting detection signals corresponding to the front-rear direction sliding of the lock switching levers 23L and 23R to the control device 40. The control device 40 can detect the sliding state of the lock switching levers 23L, 23R in the front-rear direction based on the detection signals from the slide detection switches 23LS, 23 RS.

As shown in fig. 2, the lock mechanism 27 that regulates the front-rear direction sliding of the handles 21L and 21R is configured by a lock hole 27A, a lock pin 27B, a lock spring 27C, and the like formed in each of the handles 21L and 21R. When the knobs 21L and 21R are located at the knob reference position Mz, the locking pins 27B are arranged at positions facing the substantial centers of the locking holes 27A, and are biased to move upward by the locking springs 27C.

Then, when the lock switching levers 23L and 23R slide to the rear side (the side opposite to the X axis direction), for example, as shown in the upper stage of fig. 2, the lock pins 27B are moved upward by the lock springs 27C, and become a "locked state" in which they are inserted into the lock holes 27A. The inner diameter of the lock hole 27A is formed to be larger than the outer diameter of the lock pin 27B by a predetermined dimension (for example, about 2mm to 4 mm). As a result, in the "locked state", the forward and backward movement ranges of the knobs 21L and 21R are limited to the forward and backward limitation ranges sandwiching the knob reference position Mz, and the controller 40 can detect the respective movement amounts by the movement amount detectors 21LS and 21 RS.

On the other hand, when the lock switching levers 23L and 23R slide toward the front (the X-axis direction), for example, as shown in the middle and lower stages of fig. 2, the lock pins 27B move downward against the biasing force of the lock springs 27C, and become "released state" located outside the lock holes 27A. As a result, as shown in the middle of fig. 2, in the "released state", the grips 21L and 21R can be slid by the respective rollers 25R and the movement amount detectors 21LS and 21RS by the maximum movement distance L1 from the grip reference position Mz to the front side limit position Ma on the front side.

As shown in the lower stage of fig. 2, in the "released state", the grips 21L and 21R can be slid by the respective rollers 25R and the movement amount detectors 21LS and 21RS by the maximum movement distance L2 from the grip reference position Mz to the rear limit position Mb on the rear side. Further, the controller 40 can detect the respective movement amounts of the grips 21L and 21R in the front-rear direction from the grip reference position Mz by the movement amount detectors 21LS and 21 RS.

As shown in fig. 1, a main switch 29 is provided on the rear end side of the upper end surface of the handle holding portion 22R. The main switch 29 is a switch that instructs the walking support robot 3 to start, and when the user turns on the switch, the battery B supplies electric power to the control device 40 and the electric motors 33L and 33R, thereby enabling the operation and the driving travel of the walking support robot 3.

Further, the attachment member 18 to which the smartphone 5 is detachably attached is provided on the distal end side of the upper end surface of the handle holding portion 22R. The attachment member 18 extends obliquely upward forward from the upper end surface of the handle holding portion 22R, and is formed in a substantially groove shape having a shallow cross section in the left-right direction and having a width substantially equal to the width in the left-right direction of the smartphone 5. The smartphone 5 is detachably fixed by screwing or the like by fitting the mounting member 18 from above. Further, a housing box 14 is attached to the rack 13R (or the rack 13L). Battery B (power supply) and control device 40 are housed in housing box 14.

[ control Structure of the Walking support robot 3 ]

Next, a control configuration of the walking support robot 3 will be described with reference to fig. 3. As shown in fig. 3, the control device 40 is a known device including a CPU, an EEPROM, a RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. The RAM temporarily stores the operation results of the CPU, data input from the respective detection devices, and the like.

The control device 40 receives detection signals from the travel speed detection devices 33LE and 33RE, detection signals from the movement amount detection devices 21LS and 21RS, detection signals from the slide detection switches 23LS and 23RS, and detection signals from the triaxial acceleration/angular velocity sensor 15S. A battery remaining amount (SOC) detection signal from a battery remaining amount detection device (not shown) provided in battery B is input to control device 40. Further, the control device 40 outputs control signals to the electric motors 33L, 33R.

The communication device 35 (see fig. 1) is electrically connected to the control device 40. The control device 40 is configured to be able to transmit and receive information data by wireless communication with the smartphone 5 via the communication device 35 by Bluetooth (registered trademark) or Wi-Fi (registered trademark).

Here, as shown in fig. 4, the "swing arm training mode", the "brake training mode", and the "assist mode" are set in the operation mode of the walking support robot 3. In the "swing arm training mode", the user slides the lock switching levers 23L, 23R to the front side (X-axis direction side) to enable the grips 20L, 20R and the grips 21L, 21R to move forward and backward, in other words, to set the "released state". The control device 40 performs a self-walking mode by driving the left and right drive wheels 32L and 32R by the electric motors 33L and 33R in coordination with the swing arm walking of the user's grip handles 20L and 20R.

In the "brake training mode" and the "assist mode", the user slides the lock switching levers 23L, 23R to the rear side (the side opposite to the X-axis direction), and restricts the movement ranges of the grips 20L, 20R and the grips 21L, 21R within the front-rear restriction range, in other words, sets the "locked state". In the "brake training mode", the control device 40 is a mode in which the user performs self-walking by applying a load to the electric motors 33L and 33R by regenerative braking or the like in the "push walking" in which the user performs push walking while holding the grips 20L and 20R. Therefore, the user can apply a walking load to the "walking by hand".

On the other hand, in the "assist mode", the control device 40 is in a mode in which the left and right drive wheels 32L and 32R are driven by the electric motors 33L and 33R to perform self-walking in cooperation with "hand-push walking" in which the user performs push walking while holding the grips 20L and 20R. Therefore, the walking support robot 3 travels in accordance with the "walking by hand" of the user, and thus can support the walking without applying a walking load to the "walking by hand" of the user.

In addition, for example, a lock-time drive table 42 shown in fig. 5 is stored in advance in the EEPROM of the control device 40. In the "travel control process" (see fig. 13) described later, when the lock switching levers 23L, 23R are slid to the rear side (the side opposite to the X axis direction), in other words, when the knobs 21L, 21R are set to the "locked state", the lock timing drive table 42 is used when the controller 40 determines the travel/turn mode.

The lock-time drive table 42 stores one of the travel/turn modes of "forward", "stop", "right turn", and "left turn" in accordance with the combination of "forward", "neutral", and "backward" of the "left grip operation direction" and the "right grip operation direction" corresponding to the detection signals input from the movement amount detection devices 21LS and 21 RS.

For example, when the table 42 is driven during locking and both the "operation direction of the left grip" and the "operation direction of the right grip" are "forward", the "forward" travel/turn mode is stored. In addition, the table 42 is driven during locking, and when the "operation direction of the left grip" is "forward" and the "operation direction of the right grip" is "backward", the travel/turn mode of "right turn" is stored.

Further, the release-time drive table 43 shown in fig. 6 is stored in advance in the EEPROM of the control device 40, for example. In the "travel control process" (see fig. 13) described later, when the lock switching levers 23L, 23R are slid to the front side (the X-axis direction side), in other words, when the knobs 21L, 21R are set to the "released state", the release-time drive table 43 is used when the control device 40 determines the travel/turn mode.

The table 43 is driven at the time of release, and the travel patterns of "forward travel", "right turn", and "left turn" are stored based on the front-rear amplitudes of the grips 20L, 20R and the grips 21L, 21R detected by the movement amount detectors 21LS, 21RS, that is, the left-right swing arm amplitudes of the user. For example, the table 43 is driven at the time of release, and when the front-rear amplitudes of the left and right swing arms are equal in the left and right directions, the "forward" traveling mode is stored. The release-time drive table 43 stores a "right turn" traveling pattern when the front-rear amplitude of the left arm is larger than the front-rear amplitude of the right arm. The table 43 is driven at the time of release, and when the front-rear amplitude of the right arm is larger than the front-rear amplitude of the left arm, the travel pattern of "left turn" is stored.

[ schematic Structure of smartphone 5 ]

Next, a schematic configuration of the smartphone 5 will be described with reference to fig. 7 to 9. As shown in fig. 7 and 8, the smartphone 5 is a known device, and includes a control device 80, a display 81 including a liquid crystal display or the like, a speaker 82, a microphone 83, a main camera 84A disposed on the back side of the display 81, a sub camera 84B disposed on the screen side of the display 81, an operation unit 85 including operation buttons or a touch panel covering the screen of the display 81, a sensor unit 86 including a GPS sensor or the like, a communication device 87 capable of communicating wirelessly, a battery 88, and the like.

The control device 80 is a known device including a CPU, an EEPROM, a RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. The RAM temporarily stores the operation results of the CPU, data received via the communication device 87, and the like.

The control device 80 receives a voice detection signal from the microphone 83, captured image signals from the cameras 84A and 84B, an operation signal from the operation unit 85 corresponding to an operation of an operation button or a touch panel by a user, a current position detection signal from the GPS sensor of the sensor unit 86, and the like. A battery remaining amount (SOC) detection signal from a battery remaining amount detection device (not shown) provided in the battery 88 is input to the control device 80.

In addition, a communication device 87 is electrically connected to the control device 80. The control device 80 is configured to be able to transmit and receive information data by wireless communication with the control device 40 of the walking support robot 3, the server 9 connected to the network 7 such as the internet, and the like via the communication device 87 by Bluetooth (registered trademark) or Wi-Fi (registered trademark). The control device 80 outputs an image display signal for displaying images such as various icons and various input buttons to the display 81, and outputs a drive signal for outputting voice, music, and sound to the speaker 82.

Here, an example of a display screen displayed on the display 81 by the control device 80 will be described with reference to fig. 8. As shown in fig. 8, the smartphone 5 has a speaker 82 and a sub camera 84B disposed above an upper edge portion of the display 81, and a microphone 83 disposed below a lower edge portion of the display 81. Further, an operation unit 85 formed of a touch panel is provided so as to cover the entire display screen of the display 81.

The controller 80 displays an antenna display unit indicating the reception state of the communication device 87, the time, a battery remaining amount (SOC) display unit of the battery 88, and the like on the upper edge portion of the display 81. As shown on the left side of fig. 8, the control device 80 displays a telephone icon 81A, a mail icon 81B, a camera icon 81C, a gait training icon 81D, and the like on the initial screen of the display 81.

When the user presses the phone icon 81A with the finger 89, the control device 80 starts and executes a phone application program that causes the smartphone 5 to function as a phone. When the user presses the mail icon 81B with the finger 89, the control device 80 starts and executes a mail application program that functions to transmit and receive electronic mails. When the user presses the camera icon 81C with the finger 89, the control device 80 starts a camera application program that causes the smartphone 5 to function as a camera and executes the camera application program.

As shown on the left side of fig. 8, when the user presses the walking training icon 81D with the finger 89, the control device 80 starts and executes a user registration application program for registering the name or user ID of the user using the walking support robot 3. Specifically, as shown on the right side of fig. 8, the control device 80 displays a character button 81G in the center portion of the display 81, and displays a display field 81F on the upper side of the character button 81G, in which a name or a user ID input by pressing the character button 81G is displayed. Further, the control device 80 displays a registration button 81H indicating that the name or the user ID displayed in the display field 81F is registered, on the lower right side of the character button 81G.

As shown on the left side of fig. 9, the user presses the character button 81G to display the name or the user ID of the user using the walking support robot 3 in the display field 81F. Thereafter, when the user presses the registration button 81H with the finger 89, the control device 80 stores the user name or the user ID in the EEPROM, and then, for example, as shown on the right side of fig. 9, causes the smartphone 5 to function as the operation panel of the walking support robot 3, and starts and executes a walking training application including a program of a first music output process (see fig. 16) described later.

Specifically, as shown on the right side of fig. 9, the control device 80 displays an operation panel screen 90 on the display 81, in which a start button 90A, an end button 90B, an assist start button 90C, a training start button 90D, a remaining battery amount display unit 90E, a tempo start button 90F, a music selection unit 90G, and the like are displayed. The control device 80 detects that the buttons 90A to 90D and 90F are pressed by the finger 89 via the operation unit 85 formed of a touch panel or the like.

For example, when the start button 90A displayed on the display 81 is pressed, the travel control of the walking support robot 3 is started. When the end button 90B is pressed, the travel control of the walking support robot 3 is stopped. When the assist start button 90C is pressed, the operation mode of the walking support robot 3 is set to the assist mode. When the training start button 90D is pressed, the operation mode of the walking support robot 3 is set to the swing arm training mode or the brake training mode. When the rhythm start button 90F is pressed, a rhythm sound corresponding to the target walking cycle is output.

The remaining battery level display unit 90E displays the remaining battery level of the battery B of the walking support robot 3. The music selection unit 90G is an input unit for the user to select a music piece to be output during the walking training. For example, the user presses the song title selection button 90GA to move the song title of the favorite song to the top song title display field 90GB for display. As a result, during the walking training using the swing arm training mode of the walking support robot 3, the music of the song title displayed in the uppermost song title display field 90GB is output (played) via the speaker 82.

Next, a schematic configuration of the server 9 will be described with reference to fig. 10. As shown in fig. 10, the server 9 is a known device, and includes a control device 93, a display 94 including a liquid crystal display or the like, an operation unit 95 including a keyboard, a mouse, and the like, a storage device 96 including, for example, an HDD (Hard disk Drive) or an SSD (Solid State Drive), and a communication device 97 capable of communicating wirelessly by Wi-Fi or the like.

The control device 93 is a known device including a CPU, an EEPROM, a RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. The RAM temporarily stores the operation results of the CPU, data received via the communication device 97, and the like.

An operation signal corresponding to an operation of a keyboard, a mouse, or the like by a user is input from the operation unit 95 to the control device 93. The control device 93 is electrically connected to the communication device 97. The control device 93 is configured to be able to transmit and receive information data by wireless communication with the smartphone 5 or the like connected to the network 7 via the communication device 97 by Wi-Fi or the like. Further, the control device 93 outputs an image display signal for displaying a message input from the keyboard and various image data received via the communication device 97 to the display 94. The control device 93 also stores various information data received via the communication device 97 and various calculation results calculated in the storage device 96.

The storage device 96 is provided with a music information database (music information DB)96A, a music information storage unit 96B for each user, a swing arm speed storage unit 96C for each user, a swing arm speed predetermined value storage unit 96D for each user, and the like. For example, a plurality of pieces of music information related to a plurality of genres of music are stored in the music information database (music information DB) 96A. The music related to music includes music such as a song and a musical instrument performance, a title, a predetermined playback speed value (reference playback speed) at which the music is played, and the like. A plurality of (for example, five) pieces of music information preferred by the user are stored in the music information storage unit 96B for each user in association with the user ID and the name of the user.

The arm swing speed storage unit 96C for each user stores, in time series, the average arm swing speed (arm swing-related speed) of the past one month to the past three months when the arm swing holding the grips 20L and 20R is walking, in association with the user ID and the user name. The swing arm speed predetermined value storage unit 96D for each user stores, in time series, the swing arm speed predetermined values (reference predetermined speeds) calculated in the past one month to the past three months in association with the user ID and the name of the user.

[ details of the control of the gait training ]

Next, the processing procedure performed by each of the control devices 40, 80, and 93 when the user performs walking training using the walking support robot 3 of the walking support system 1 configured as described above will be described with reference to fig. 11 to 26.

Specifically, first, the user turns ON the main switch 29 (see fig. 1) of the walking support robot 3 configured as described above. The user activates the smartphone 5 detachably attached to the attachment member 18 (see fig. 1) of the walking support robot 3, presses the walking training icon 81D displayed on the initial screen of the display 81 with the finger 89, and displays the display field 81F, the character button 81G, and the registration button 81H (see fig. 8) on the display 81. Then, the user presses the character button 81G to input a name or a user ID into the display field 81F, and then presses the registration button 81H with the finger 89 (see fig. 9).

When the user turns ON the main switch 29 of the walking support robot 3, the control device 40 starts the "walking training support process" shown in fig. 11 at predetermined time intervals (for example, at intervals of several [ ms ]), and the process proceeds to step S11. When the user presses the registration button 81H with the finger 89, the control device 80 of the smartphone 5 stores the user's name or user ID in the RAM, and then displays the operation panel screen 90 on the display 81 (see fig. 9).

Thereafter, the control device 80 executes the "first music output process" shown in fig. 16 at predetermined time intervals (for example, at intervals of several [ ms ]), and advances the process to step S21. The control device 93 of the server 9 executes the "training information generation process" shown in fig. 26 at predetermined time intervals (for example, at intervals of several [ ms ]), and advances the process to step S411.

[ Walking training support processing ]

The "walking training support process" executed by the control device 40 of the walking support robot 3 will be described with reference to fig. 11 to 15. The programs shown in the flowcharts of fig. 11 to 15 are stored in advance in the EEPROM of the control device 40.

As shown in fig. 11, first, in step S11, the control device 40 executes a sub-process of "traveling start determination process" (see fig. 13) described later, and thereafter, proceeds to the process of step S12. In step S12, control device 40 executes a sub-process of "travel control process" (see fig. 14), and thereafter proceeds to a process of step S13. In step S13, the control device 40 executes a sub-process of "battery process" (see fig. 15), and then ends the walking training support process.

[ Driving Start judgment processing ]

Next, a sub-process of the "travel start determination process" will be described with reference to fig. 12. As shown in fig. 12, first, in step S111, the control device 40 determines whether or not the "training start instruction command" is received from the smartphone 5 via the communication device 35. The "training start instruction command" is a command for instructing the start of the travel of the walking support robot 3 in the swing arm training mode or the brake training mode.

When it is determined that the "training start instruction command" is received from the smartphone 5 via the communication device 35 (yes in S111), the control device 40 proceeds to the process of step S112. In step S112, the control device 40 reads the training start flag from the RAM, sets the training start flag to ON (ON), stores the training start flag in the RAM again, ends the sub-process, and advances the process to the "travel control process" sub-process of step S12. The training start flag is set to OFF (OFF) at the time of activation of the control device 40, and is stored in the RAM.

On the other hand, when determining that the "training start instruction command" has not been received from the smartphone 5 via the communication device 35 (no in S111), the control device 40 proceeds to the process of step S113. In step S113, the control device 40 determines whether or not the "assist start instruction command" is received from the smartphone 5 via the communication device 35. The "assistance start instruction command" is a command for instructing the walking support robot 3 to start traveling in the assistance mode.

When it is determined that the "assist start instruction command" is received from the smartphone 5 via the communication device 35 (yes in S113), the control device 40 proceeds to the process of step S114. In step S114, the control device 40 reads the assist start flag from the RAM, sets the assist start flag to on, stores the assist start flag in the RAM again, ends the sub-process, and proceeds to the sub-process of the "travel control process" in step S12. The assist start flag is set to off and stored in the RAM at the time of activation of the control device 40.

On the other hand, when determining that the "assist start instruction command" has not been received from the smartphone 5 via the communication device 35 (no in S113), the control device 40 proceeds to the process of step S115. In step S115, the control device 40 determines whether or not the "end instruction command" is received from the smartphone 5 via the communication device 35. The "end instruction command" is a command for instructing to stop the driving of the electric motors 33L and 33R, stop the left and right driving wheels 32L and 32R, and end (stop) the traveling in accordance with the walking of the user.

When it is determined that the "end instruction command" is received from the smartphone 5 via the communication device 35 (yes in S115), the control device 40 proceeds to the process of step S116. In step S116, the control device 40 reads out the training start flag and the assist start flag from the RAM, sets both the training start flag and the assist start flag to off, stores them in the RAM again, ends this sub-process, and proceeds to the "travel control process" sub-process of step S12.

On the other hand, when it is determined that the "end instruction command" is not received from the smartphone 5 via the communication device 35 (no in S115), the control device 40 ends the sub-process, and proceeds to the sub-process of the "travel control process" in step S12. In other words, the control device 40 does not change the training start flag and the assist start flag, and proceeds to the sub-process of the "travel control process" of step S12 described above.

[ traveling control processing ]

Next, a sub-process of the "travel control process" will be described with reference to fig. 13. As shown in fig. 13, first, in step S121, the control device 40 reads out the training start flag from the RAM, and determines whether or not the training start flag is set to on, in other words, whether or not a training start instruction command is received from the smartphone 5.

When it is determined that the training start flag read from the RAM is set to on (yes in S121), the control device 40 determines that a training start instruction command is received from the smartphone 5, and proceeds to the process of step S122. In step S122, the control device 40 determines whether the forward and backward movement range of each of the grips 21L and 21R is limited within the forward and backward limitation range, based on the detection signal from each of the slide detection switches 23LS and 23 RS. In other words, it is determined whether or not the lock switching levers 23L and 23R are in a locked state in which, for example, the lock switching levers are slid to the rear side (the side opposite to the X-axis direction) and the lock pins 27B are inserted into the lock holes 27A of the handles 21L and 21R (see the upper stage of fig. 2).

When it is determined that the movement range of the handles 21L and 21R in the front-rear direction is not limited within the front-rear limit range, that is, when it is determined that the lock pins 27B are positioned in the released state outside the lock holes 27A of the handles 21L and 21R based on the detection signals from the slide detection switches 23LS and 23RS (no in S122), the control device 40 determines that the swing arm training mode is established, and proceeds to the process of step S123.

In step S123, the controller 40 detects the respective movement amounts of the grips 21L and 21R in the front-rear direction from the grip reference position Mz, that is, the movement amounts of the grips 20L and 20R in the front-rear direction from the grip reference position Mz (see the middle and lower stages in fig. 2) by the movement amount detectors 21LS and 21RS, stores the movement amounts in the RAM, and then proceeds to the process of step S124.

In step S124, the control device 40 detects the left and right swing arm amplitudes of the user based on the amount of movement of the left and right grips 20L and 20R in the front-rear direction from the grip reference position Mz. Then, the control device 40 determines a travel pattern corresponding to the left and right swing arm amplitudes of the user based on the release-time drive table 43 (see fig. 6). Then, the control device 40 drives the left and right drive wheels 32L and 32R by the left and right electric motors 33L and 33R in the determined travel mode to travel in accordance with the speed of the user' S left and right swing arms, and the process proceeds to step S125.

In other words, the control device 40 drives the left and right drive wheels 32L and 32R by the left and right electric motors 33L and 33R to move the walking support robot 3 in accordance with the user's swing arm walking, which grips the grips 20L and 20R. That is, the walking support robot 3 travels according to the speed of the swing arm corresponding to the travel speed of the walking support robot 3 and the stroke of the handles 21L and 21R. Therefore, the lower the speed of the swing arm of the user, the lower the traveling speed of the walking assistance robot 3, and the traveling speed is made to coincide with the walking speed of the user. Thus, the user can perform swing arm walking training in which the user swings the left and right arms to walk while holding the grips 20L and 20R.

In step S125, the control device 40 reads out the amount of movement of the left and right grips 20L and 20R in the front-rear direction from the grip reference position Mz detected in step S123 from the RAM, calculates the movement speed of the grips 21L and 21R, that is, the left and right swing arm speeds from the movement time of the grips 21L and 21R, stores the movement speed in the RAM, and then proceeds to the process of step S126.

In step S126, the control device 40 reads out the movement speeds of the handles 21L and 21R, that is, the left and right swing arm speeds from the RAM, generates communication data of "swing arm speed information" including the left and right swing arm speeds, transmits the communication data to the smartphone 5 via the communication device 35, and then proceeds to the processing of step S132 described later.

On the other hand, in step S122, when it is determined that the longitudinal movement range of each of the grips 21L and 21R is limited within the longitudinal limit range, in other words, when it is determined that the lock pin 27B is inserted into the lock hole 27A of each of the grips 21L and 21R in the locked state (yes in S122), based on the detection signal from each of the slide detection switches 23LS and 23RS, the control device 40 determines that the brake training mode is established, and proceeds to the process of step S127.

In step S127, the control device 40 detects the respective amounts of movement of the grips 21L and 21R in the forward and backward direction from the grip reference position Mz, that is, the amounts of movement of the left and right grips 20L and 20R in the forward and backward direction from the grip reference position Mz (see the upper stage of fig. 2) by the movement amount detection devices 21LS and 21RS, detects whether the user presses the left and right grips 20L and 20R forward or releases the grips to place them in the neutral position, or pulls the grips rearward, stores them in the RAM, and then proceeds to the processing of step S128. In other words, the control device 40 detects the respective operation directions of the left and right grips 20L, 20R, stores the same in the RAM, and then proceeds to the process of step S128.

In step S128, the control device 40 reads out the operation direction of each of the left and right grips 20L and 20R from the RAM as "the operation direction of the left grip" and "the operation direction of the right grip" of the lock-time drive table 42 (see fig. 5). Then, the control device 40 reads one of the travel/turn modes "forward", "stop", "right turn" and "left turn" from the lock-time drive table 42 based on the combination of the operation directions of the respective "forward", "neutral" and "rear", and determines the travel mode.

Then, in the determined running mode, the control device 40 drives the left and right electric motors 33L and 33R to generate braking force such as regenerative braking so as to run while applying a braking load in accordance with the pushing state of the user, and the process proceeds to step S132 described later. In other words, the control device 40 drives the left and right drive wheels 32L and 32R by the left and right electric motors 33L and 33R to travel so that the user grips the grips 20L and 20R and presses the walking support robot 3 in a predetermined load state to walk. Thus, the user can perform a braking training (walking training by hand) in which the user walks in a state of holding the grips 20L and 20R by hand.

On the other hand, if it is determined in step S121 that the training start flag read from the RAM is set to off (no in S121), control device 40 proceeds to the process of step S129. In step S129, the control device 40 reads out the assist start flag from the RAM, and determines whether or not the assist start flag is set to on, in other words, whether or not the assist start instruction command is received from the smartphone 5.

If it is determined that the assist start flag read from the RAM is set to on (yes in S129), the control device 40 determines that the assist start instruction command is received from the smartphone 5, and proceeds to the process of step S130. In step S130, the control device 40 executes the process of step S127, and then proceeds to the process of step S131. In other words, the control device 40 detects the respective operation directions of the left and right grips 20L, 20R, stores the same in the RAM, and then proceeds to the process of step S131.

In step S131, the control device 40 reads out the operation direction of each of the left and right grips 20L and 20R from the RAM as "operation direction of left grip" and "operation direction of right grip" in the lock timing drive table 42 (see fig. 5). Then, the control device 40 reads one of the travel/turn modes "forward", "stop", "right turn" and "left turn" from the lock-time drive table 42 based on the combination of the operation directions of the respective "forward", "neutral" and "rear", and determines the travel mode. When the assist start flag is on, the lock switching levers 23L and 23R slide to a locked state in which the lock pins 27B are inserted into the lock holes 27A of the handles 21L and 21R.

Then, the control device 40 drives the left and right drive wheels 32L, 32R for a predetermined time (for example, several msec.) by the left and right electric motors 33L, 33R in accordance with the determined running mode so that the grips 20L, 20R are positioned at the grip reference positions, and then proceeds to the process of step S132. Thus, the walking support robot 3 can perform the follow-up running in accordance with the walking of the user who has pushed the left and right grips 20L and 20R by hand, and the walking support robot 3 can perform the running in the assist mode for assisting the walking of the user.

Next, in step S132, the control device 40 detects the traveling speed of the walking support robot 3 with respect to the ground (based on the traveling speeds of the drive wheels 32L and 32R) based on the detection signals from the traveling speed detection devices 33LE and 33RE provided in the left and right electric motors 33L and 33R, stores the detected traveling speed in the RAM as the walking speed of the user, and then proceeds to the processing of step S133. In step S133, the control device 40 reads out the walking speed of the user, that is, the traveling speed of the walking support robot 3 from the RAM, transmits walking speed information including the walking speed of the user to the smartphone 5 as the walking state of the user via the communication device 35, and then ends the sub-process, and the process proceeds to the sub-process of "battery processing" in step S13.

On the other hand, when it is determined in step S129 that the assist start flag read from the RAM is set to off (no in S129), the control device 40 determines that the assist start instruction command is not received from the smartphone 5, and proceeds to the process of step S134. In step S134, the control device 40 stops the driving of the left and right electric motors 33L and 33R to stop the left and right driving wheels 32L and 32R, and then ends the sub-process, and proceeds to the sub-process of the "battery process" in step S13.

[ treatment of storage batteries ]

Next, a sub-process of the "battery process" will be described with reference to fig. 14. As shown in fig. 14, first, in step S141, the control device 40 detects the remaining battery level of the battery B based on a remaining battery level (SOC) detection signal input from a remaining battery level detection device (not shown) provided in the battery B, stores the detected remaining battery level in the RAM, and then proceeds to the processing of step S142. In step S142, the control device 40 reads out the remaining battery level of the battery B from the RAM, transmits the remaining battery level information including the data of the remaining battery level to the smartphone 5 via the communication device 35, and then ends the sub-process and ends the walking training support process.

[ first music output processing ]

Next, the "first music output process" executed by the control device 80 of the smartphone 5 will be described with reference to fig. 15 to 25. The programs shown in the flowcharts of fig. 15 to 18 and fig. 20 to 24 are stored in advance in the EEPROM of the control device 80.

As shown in fig. 15, first, in step S21, the control device 80 executes a sub-process of the "mode selection process" (see fig. 16) described later, and then proceeds to the process of step S22. In step S22, the control device 80 executes a sub-process of "start/stop process" (see fig. 17) described later, and then proceeds to the process of step S23. In step S23, the control device 80 executes a sub-process of "information acquisition process" described later (see fig. 18), and thereafter proceeds to the process of step S24. In step S24, the control device 80 executes a sub-process of "music selection process" described later (see fig. 20), and then proceeds to the process of step S25. In step S25, the control device 80 executes a sub-process of "music playing process" described later (see fig. 21 to 24), and then ends the first music output process.

[ mode selection processing ]

Next, a sub-process of the above-described "mode selection process" for determining the operation mode of the walking assistance robot 3 will be described with reference to fig. 16. As shown in fig. 16, first, in step S211, control device 80 determines whether or not training start button 90D (see fig. 9) of operation panel screen 90 (see fig. 9) displayed on display 81 is pressed with finger 89 (see fig. 9).

When the user selects the arm swing training mode or the brake training mode for the walking training, the user presses the training start button 90D with the finger 89. On the other hand, when the user selects the assist mode in which the walking support robot 3 supports the walking of the user by performing the follow-up running in accordance with the walking of the user who has pushed the left and right grips 20L and 20R by hand, the assist start button 90C (see fig. 9) is pressed with the finger 89.

If it is determined that training start button 90D has been pressed with finger 89 (yes in S211), control device 80 proceeds to the process of step S212. In step S212, the control device 80 reads out the training flag from the RAM, sets the training flag to on, and stores the training flag in the RAM again, and then proceeds to the processing of step S213. In step S213, the control device 80 reads out the assist flag from the RAM, sets the assist flag to off, and stores the assist flag in the RAM again, and then proceeds to the processing of step S214. In addition, the training flag and the auxiliary flag are set to be off at the time of activation of the control device 80 and stored in the RAM.

In step S214, control device 80 turns on a white-circle button mark 90DA (see fig. 9) of training start button 90D (for example, red blinking display), and then proceeds to the processing of step S215. In step S215, the control device 80 sets the button mark 90CA (see fig. 9) of the assist start button 90C to the off display (for example, a white circle or the like), and then proceeds to the processing of step S221, which will be described later. This displays the gist of the walking exercise in which the swing arm exercise mode or the brake exercise mode is selected.

On the other hand, when it is determined in step S211 that training start button 90D has not been pressed with finger 89 (no in S211), control device 80 proceeds to the process of step S216. In step S216, control device 80 determines whether or not assist start button 90C of operation panel screen 90 displayed on display 81 is pressed with finger 89. If it is determined that assist start button 90C has not been pressed with finger 89 (no in S216), control device 80 proceeds to the process of step S221, which will be described later.

On the other hand, when it is determined in step S216 that the assist start button 90C has been pressed with the finger 89 (yes in S216), the control device 80 proceeds to the process of step S217. In step S217, the control device 80 reads out the assist flag from the RAM, sets the assist flag to on, and stores the assist flag in the RAM again, and then proceeds to the processing of step S218. In step S218, the control device 80 reads out the training flag from the RAM, sets the training flag to off, stores the training flag in the RAM again, and then proceeds to the process of step S219.

In step S219, the control device 80 turns on the white-circle button mark 90CA of the assist start button 90C (for example, red blinking display or the like), and then proceeds to the process of step S220. In step S220, control device 80 causes button mark 90DA of training start button 90D to be off (for example, white circle) and then proceeds to the processing of step S221. Thus, the walking support robot 3 is selected to perform follow-up running in accordance with the walking of the user in the hand-pushing state to support the walking of the user.

In step S221, the control device 80 determines whether or not the rhythm start button 90F (see fig. 9) of the operation panel 90 displayed on the display 81 is pressed with the finger 89 (see fig. 9). When the user performs the walking training in the arm swing training mode or the brake training mode, the user presses the rhythm start button 90F with the finger 89 when selecting the output (playback) of periodic sounds (for example, periodic stimulus information) for teaching the timing of walking, that is, the timing of the heel reaching the ground or the floor (for example, a beat sound of a metronome of a certain period, a rhythm sound of a musical instrument, a cheering sound, and the like). In addition, when the user stops the output (playback) of the periodic sound, the user can stop the operation by pressing the rhythm start button 90F again with the finger 89.

When it is determined that the rhythm start button 90F has not been pressed with the finger 89 (no in S221), the control device 80 ends the sub-processing, and proceeds to the sub-processing of "start/stop processing" in step S22. On the other hand, if it is determined that the rhythm start button 90F has been pressed with the finger 89 (yes in S221), the control device 80 proceeds to the process of step S222. In step S222, the control device 80 reads out the rhythm flag from the RAM, and determines whether the rhythm flag is set to off, in other words, whether it is set not to output (play) a periodic sound. In addition, the tempo flag is set to off at the time of startup of the control device 80 and stored in the RAM.

If it is determined that the tempo flag is set to off, in other words, if it is determined that the periodic sound is not output (played) (yes in S222), the control device 80 proceeds to the process of step S223. In step S223, the control device 80 reads out the rhythm flag from the RAM, sets the rhythm flag to on, and stores it in the RAM again, and thereafter proceeds to the process of step S224.

In step S224, the control device 80 turns on the white-circle button mark 90FA (see fig. 9) of the rhythm start button 90F (for example, red blinking display) and then ends the sub-processing, and the process proceeds to the "start/stop processing" sub-processing in step S22. Thus, the display is set to output periodic sounds teaching walking timing during walking training in the arm swing training mode or the brake training mode.

On the other hand, if it is determined at S222 that the tempo flag is set to on, in other words, if it is determined that the periodic sound is set to be output (played) (no at S222), the control device 80 proceeds to the process at step S225. In step S225, the control device 80 reads out the rhythm flag from the RAM, sets the rhythm flag to off, and stores it in the RAM again, followed by proceeding to the process of step S226.

In step S226, the control device 80 turns off the button mark 90FA of the rhythm start button 90F (for example, white circle), and then ends the sub-process, and proceeds to the "start/stop process" sub-process of step S22. Thus, the display is set such that, during walking training in the arm swing training mode or the brake training mode, a periodic sound for teaching walking timing is not output.

[ Start/stop treatment ]

Next, the sub-process of the "start/stop process" will be described with reference to fig. 17. As shown in fig. 17, first, in step S231, the control device 80 determines whether or not the start button 90A (see fig. 9) of the operation panel screen 90 (see fig. 9) displayed on the display 81 is pressed by the finger 89 (see fig. 9). When the user starts walking with the walking training in the arm swing training mode or the brake training mode or with the walking support in the assist mode, the user presses the start button 90A with the finger 89.

When it is determined that start button 90A has been pressed with finger 89 (yes in S231), control device 80 proceeds to the process of step S232. In step S232, the control device 80 reads out the smartphone/start flag from the RAM, sets the smartphone/start flag to on, and stores the same in the RAM again, and then proceeds to the processing of step S233. The smartphone start flag is set to off and stored in the RAM when the control device 80 is activated.

In step S233, the control device 80 reads out the training flag from the RAM, and determines whether or not the training flag is set to on. If it is determined that the training flag is set to off (no in S233), the control device 80 proceeds to the process of step S235, which will be described later. On the other hand, if it is determined that the training flag is set to on (yes in S233), control device 80 proceeds to the process of step S234.

In step S234, the control device 80 transmits a "training start instruction" instructing the walking support robot 3 to start the swing arm training mode or the brake training mode to travel, via the communication device 87, and then proceeds to the process of step S235. In step S235, the control device 80 reads out the assist flag from the RAM, and determines whether or not the assist flag is set to on. If it is determined that the assist flag is set to off (no in S235), the control device 80 proceeds to the process of step S241, which will be described later.

On the other hand, if it is determined that the assist flag is set to on (yes in S235), the control device 80 proceeds to the process of step S236. In step S236, the control device 80 transmits an "assist start instruction command" instructing the walking support robot 3 to start traveling in the assist mode for follow-up traveling in accordance with the walking of the user in the pushing state to the walking support robot 3 via the communication device 87, and then proceeds to the processing of step S241 to be described later.

On the other hand, if it is determined at S231 that start button 90A has not been pressed by finger 89 (no at S231), control device 80 proceeds to the process at step S237. In step S237, control device 80 determines whether end button 90B (see fig. 10) of operation panel screen 90 (see fig. 10) displayed on display 81 is pressed with finger 89 (see fig. 10). When the user finishes the walking exercise in the swing arm exercise mode or the brake exercise mode, or the user presses the end button 90B with the finger 89 while walking is being assisted in the assist mode.

If it is determined that the end button 90B has not been pressed by the finger 89 (no in S237), the control device 80 proceeds to the process of step S241, which will be described later. Thus, when the user walks in a walking exercise in the swing arm exercise mode or the brake exercise mode, or in a walking support in the assist mode, the user continues walking in this state.

On the other hand, if it is determined that end button 90B has been pressed with finger 89 (yes in S237), control device 80 proceeds to the process of step S238. In step S238, the control device 80 reads out the smartphone/start flag from the RAM, sets the smartphone/start flag to off, stores the smartphone/start flag in the RAM again, and then proceeds to the processing in step S239.

In step S239, the control device 80 reads out the training flag, the assist flag, the tempo flag, the music information acquisition flag, and the swing arm flag from the RAM, sets them to off, stores them in the RAM again, and then proceeds to the processing in step S240. In addition, the music information acquisition flag and the swing arm flag are set to off at the time of start-up of the control device 80 and stored in the RAM. As will be described later, when the music information is received from the server 9, the music information acquisition flag is set to on (see fig. 18). As will be described later, the swing arm flag is set to on when the swing arm speed information is received from the walking support robot 3 (see fig. 18).

In step S240, the control device 80 transmits an "end instruction command" instructing to end (stop) the travel in the arm swing training mode or the brake training mode and the travel in the assist mode for supporting the user 'S walking in cooperation with the user' S walking in the pushing state to the walking support robot 3 via the communication device 87, and the process proceeds to step S241. Thereby, the walking support robot 3 is in a stopped state (see fig. 12 and 13).

In step S241, the control device 80 determines whether or not battery remaining amount information including data of the remaining amount of the battery B is received from the walking support robot 3 via the communication device 87. If it is determined that the remaining battery level information has not been received from the walking support robot 3 (no in S241), the control device 80 ends the sub-process, and proceeds to the sub-process of the "information acquisition process" in step S23.

On the other hand, when determining that the remaining battery level information has been received from the walking support robot 3 (yes in S241), the control device 80 proceeds to the process of step S242. In step S242, the control device 80 displays the remaining battery level of the battery B included in the remaining battery level information on the remaining battery level display unit 90E (see fig. 9) of the operation panel screen 90 (see fig. 9) displayed on the display 81, and then ends this sub-process, and proceeds to the sub-process of the "information acquisition process" of step S23. For example, as shown on the right side of fig. 9, when the remaining battery level of the battery B included in the remaining battery level information is "80%", the controller 80 displays "electric power 80%" on the remaining battery level display unit 90E of the operation panel screen 90.

[ information acquisition processing ]

Next, a sub-process of the above-described "information acquisition process" will be described with reference to fig. 18 and 19. As shown in fig. 18, first, in step S251, the control device 80 determines whether or not "swing arm speed information" including the left and right swing arm speeds of the user is received from the walking support robot 3 via the communication device 87. When it is determined that the "swing arm speed information" including the left and right swing arm speeds of the user is not received from the walking support robot 3 via the communication device 87 (no in S251), the control device 80 proceeds to the process of step S255, which will be described later.

On the other hand, when it is determined that "swing arm speed information" including the left and right swing arm speeds of the user is received from the walking support robot 3 via the communication device 87 (yes in S251), the control device 80 proceeds to the process of step S252. In step S252, the control device 80 associates data, which is composed of "swing arm speed information" including the left and right swing arm speeds of the user and received from the walking support robot 3 and time information acquired from the timer, with a user ID for identifying the user, stores the data in an EEPROM in time series, and then proceeds to the process of step S253.

In step S253, the control device 80 sequentially reads a plurality of pieces of "swing arm speed information" from the latest "swing arm speed information" associated with the user ID and stored in the EEPROM to a time traced back for a predetermined time (for example, approximately 1 second to 2 seconds), calculates a "swing arm average speed" and stores the "swing arm average speed" in the RAM, and then proceeds to the processing of step S254.

For example, as shown in fig. 19, when the swing arm of the user is fast, the swing arm speed of the grip 20L or the grip 20R changes in a short cycle as shown by the solid swing arm speed curve 55. Further, when the swing arm of the user is slow, the swing arm speed of the grip 20L or the grip 20R changes at a relatively long cycle as shown by the broken-line swing arm speed curve 56. When the grips 20L and 20R are located at the front limit position Ma (front end) or the rear limit position Mb (rear end), the swing arm speed is substantially 0.

Therefore, the control device 80 sequentially reads out a plurality of pieces of "swing arm speed information" of the grip 20L or the grip 20R from the EEPROM, the plurality of pieces of "swing arm speed information" being obtained from the latest "swing arm speed information" to a time traced back for a predetermined time (for example, approximately 1 second to 2 seconds "). Then, the control device 80 extracts a plurality of swing arm speeds from the latest swing arm speed to about one cycle in the past from the change in the swing arm speed included in each "swing arm speed information". Next, the control device 80 calculates the average speeds V1, V2 of the extracted plurality of swing arm speeds of about one cycle, stores the calculated average speeds in the RAM as "swing arm average speed", and then proceeds to the processing of step S254.

As shown in fig. 18, in step S254, the control device 80 reads out the swing arm flag indicating that the swing arm speed information is received from the RAM, sets the flag to on, stores the flag in the RAM again, and then proceeds to the process of step S255. In addition, the swing arm flag is set to off at the time of activation of the control device 80 and stored in the RAM.

In step S255, the control device 80 reads out the music information acquisition flag from the RAM, and determines whether or not it is set to off, in other words, whether or not music information has not been received from the server 9. If it is determined that the music information acquisition flag read from the RAM is set to on (no in S255), the control device 80 determines that the music information has been received from the server 9, ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S24.

On the other hand, if it is determined that the music information acquisition flag read out from the RAM is set to off, in other words, if it is determined that music information has not been received from the server 9 (S255: yes), the control device 80 proceeds to the process of step S256. In step S256, the control device 80 reads out the training flag from the RAM, and determines whether or not the training flag is set to on. If it is determined that the training flag is set to off (no in S256), the control device 80 determines that the walking training is not performed in the swing arm training mode or the brake training mode, ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S24.

On the other hand, if it is determined that the training flag is set to on (yes in S256), the control device 80 determines that the walking training is performed in the swing arm training mode or the brake training mode, and proceeds to the process of step S257. In step S257, the control device 80 reads out the swing arm flag from the RAM, and determines whether the swing arm flag is set to on. If it is determined that the swing arm flag is set to off (no in S257), the control device 80 determines that the walking training in the swing arm training mode is not performed, ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S24.

On the other hand, if it is determined that the swing arm flag is set to on (yes in S257), the control device 80 determines that the walking training is performed in the swing arm training mode, and proceeds to the process of step S258. In step S258, the control device 80 transmits an identification ID for identifying the smartphone 5, a user ID of the user, a music information request command, and a swing arm speed specification value request command to the server 9 via the communication device 87, and the process proceeds to step S259.

Here, the music information request instruction is an instruction to request transmission of music information made up of a plurality of (for example, five) pieces of music information that can be output (played) via the speaker 82 at the time of walking training in the arm swing training mode. The swing arm speed predetermined value request command is a command for requesting a swing arm speed predetermined value (reference predetermined speed) as a reference of the user during the walking training in the swing arm training mode.

In step S259, the control device 80 waits for reception of communication data including an identification ID for identifying the smartphone 5, a user ID, music information including a plurality of (e.g., five) pieces of music information, and a swing arm speed predetermined value (reference predetermined speed) from the server 9 via the communication device 87 (no in S259). When the control device 80 receives communication data including an identification ID for identifying the smartphone 5, a user ID, music information including a plurality of (e.g., five) pieces of music information, and a swing arm speed predetermined value (reference predetermined speed) from the server 9 via the communication device 87 (yes in S259), the process proceeds to step S260.

In step S260, the control device 80 associates the music information composed of a plurality of (for example, five) pieces of music information and the swing arm speed prescribed value (reference prescribed speed) received from the server 9 via the communication device 87 with the user ID and stores them in the EEPROM, and then proceeds to the processing of step S261.

In step S261, the control device 80 extracts the names of the music pieces contained in each of the plurality of (for example, five) pieces of music piece information received from the server 9 via the communication device 87. Then, the control device 80 sequentially displays the song names extracted from the pieces of music information in the order of reception from the top to the song name display fields 90GB (see fig. 9) of the music selection unit 90G displayed on the display 81, updates the song names, and then proceeds to the processing of step S262. When the number of pieces of received music information is larger than the number of the song title display fields 90GB, the control device 80 displays the song titles of the pieces of received music information in the number of the song title display fields 90GB in the order of reception from the top.

In step S262, the control device 80 sets music information including the song name in the uppermost song name display field 90GB of the song name display fields 90GB displayed in the music selection unit 90G as the reproduced music to be output (reproduced) via the speaker 82 during the walking training in the arm swing training mode, stores the music information in the EEPROM, and then proceeds to the processing of step S263.

In step S263, the control device 80 reads out from the RAM a music information acquisition flag indicating that a plurality of pieces of (for example, five pieces of) music information and a predetermined swing arm speed value (reference predetermined speed) have been received from the server 9, sets the flag to on, stores the flag in the RAM again, and then ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S24.

[ music selection processing ]

Next, a sub-process of the above-described "music selection process" will be described based on fig. 20. As shown in fig. 20, first, in step S265, the control device 80 determines whether or not the song title selection button 90GA (see fig. 9) displayed on the music selection unit 90G of the operation panel screen 90 (see fig. 9) of the display 81 is pressed with the finger 89 (see fig. 9). When it is determined that the song title selection button 90GA displayed on the music selection unit 90G of the operation panel screen image 90 has not been pressed by the finger 89 (no in S265), the control device 80 ends the sub-process, and proceeds to the sub-process of the "music playback process" in step S25.

On the other hand, if it is determined that the song title selection button 90GA displayed on the music selection unit 90G of the operation panel screen 90 has been pressed by the finger 89 (yes in S265), the control device 80 proceeds to the process of step S266. In step S266, the control device 80 determines whether or not any of the top and bottom pair of song title selection buttons 90GA is pressed.

When it is determined that the song name selection button 90GA arranged on the upper side is pressed, the control device 80 sequentially arranges the song names of the music information stored in the above-described step S260 in the order of reception to the upper side, updates and displays the song names displayed in the song name display fields 90GB, and sets the display order of the song names displayed in the uppermost song name display field 90GB to the lowest position. When it is determined that the song name selection button 90GA disposed on the lower side is pressed, the control device 80 arranges the song names of the pieces of music information stored in the above-described step S260 in the order of reception in the lower side, updates and displays the song names displayed in the song name display fields 90GB, displays the song name with the lowest display order in the highest song name display field 90GB, and thereafter proceeds to the processing of step S267.

In step S267, the control device 80 resets the music information including the music name displayed in the uppermost one of the music name display fields 90GB of the music selection unit 90G to the reproduced music outputted (reproduced) via the speaker 82 during the walking training in the swing arm training mode, stores the music information in the EEPROM, then ends the sub-process, and proceeds to the sub-process of the "music reproduction process" in step S25.

[ music playback processing ]

Next, the sub-process of the above-described "music playback process" will be described with reference to fig. 21 to 25. As shown in fig. 21, first, in step S271, the control device 80 reads out the smartphone start flag from the RAM, and determines whether or not the smartphone start flag is set to on. If it is determined that the smartphone/start flag is set to off (S271: no), the control device 80 ends the sub-process and ends the first music output process.

On the other hand, if it is determined that the smartphone/start flag is set to on (S271: yes), control device 80 determines that start button 90A of operation panel screen 90 (see fig. 9) has been pressed, and proceeds to the process of step S272. In step S272, control device 80 reads out the training flag from the RAM, and determines whether or not the training flag is set to on. If it is determined that the training flag is set to off (no in S272), the control device 80 ends the sub-process and ends the first music output process.

On the other hand, if it is determined that the training flag is set to on (yes in S272), the control device 80 determines that the training start button 90D of the operation panel screen 90 is pressed, and proceeds to the process of step S273. In step S273, the control device 80 reads out the swing arm flag from the RAM, and determines whether or not the swing arm flag is set to on. When it is determined that the swing arm flag is set to off (no in S273), the control device 80 ends the sub-process and ends the first music output process.

On the other hand, if it is determined that the swing arm flag is set to on (yes in S273), the control device 80 determines that the swing arm training mode is established, and proceeds to the process of step S274. In step S274, the control device 80 reads out the music play flag from the RAM, and determines whether or not the music play flag is set to off. If it is determined that the music playback flag is set to on (no in S274), the control device 80 proceeds to the process of step S277, which will be described later. In addition, at the time of activation of the control device 80, the music play flag is set to off and stored in the RAM.

On the other hand, if it is determined that the music play flag is set to off (S274: YES), the control device 80 proceeds to the process of step S275. In step S275, the control device 80 reads out the "swing arm average speed" stored in the RAM in step S253 described above. The control device 80 reads out the swing arm speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S260. Next, the control device 80 determines whether or not the "average swing arm speed" of the user is equal to or higher than a predetermined swing arm speed value (reference predetermined speed).

When it is determined that the "average swing arm speed" of the user is smaller than the predetermined swing arm speed value (reference predetermined speed), in other words, it is determined that the swing arm speed value is slower than the predetermined swing arm speed value (reference predetermined speed) (S275: no), the control device 80 ends the sub-process and ends the first music output process.

On the other hand, when the "swing arm average speed" of the user is determined to be equal to or higher than the predetermined swing arm speed value (reference predetermined speed) (yes in S275), the control device 80 proceeds to the process of step S276. In step S276, the control device 80 reads out the music play flag from the RAM, sets the music play flag on, and stores it in the RAM again, followed by proceeding to step S277.

In step S277, the control device 80 reads out the "swing arm average speed" stored in the RAM in step S253 described above. The control device 80 reads out the swing arm speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S260. Next, the control device 80 determines whether or not the "average swing arm speed" of the user is equal to or higher than a predetermined swing arm speed value (reference predetermined speed).

When it is determined that the "average swing arm speed" of the user is smaller than the predetermined swing arm speed (reference predetermined speed), in other words, lower than the predetermined swing arm speed (reference predetermined speed) (no in S277), the control device 80 proceeds to the process of step S278. In step S278, the control device 80 executes a sub-process of "volume down process" for lowering the volume of the played music (see fig. 23), which will be described later, and then proceeds to the process of step S283.

[ volume reduction processing ]

Here, a sub-process of the "volume down process" executed by the control device 80 in step S278 will be described with reference to fig. 23. As shown in fig. 23, first, in step S311, the control device 80 reads out from the RAM an elapsed time from when the swing arm average speed becomes equal to or higher than the swing arm speed predetermined value (reference predetermined speed) and then is first smaller than the swing arm speed predetermined value (reference predetermined speed), that is, slower than the swing arm speed predetermined value (reference predetermined speed). Next, the controller 80 determines whether the elapsed time is equal to or longer than a predetermined time T1, in other words, whether the elapsed time reaches a predetermined time T1. The predetermined time T1 is stored in advance in the EEPROM.

If it is determined that the elapsed time is less than the predetermined time T1, that is, the elapsed time is less than the predetermined time T1 (no in S311), the control device 80 proceeds to the process of step S312. In step S312, the control device 80 adds "1" to the count value of the elapsed time, then ends the sub-process, and proceeds to the process of step S283 (see fig. 21), which will be described later. At the time of startup of the control device 80, the count value of the elapsed time is substituted by "0" and stored in the RAM.

On the other hand, when it is determined that the elapsed time is equal to or longer than the predetermined time T1, in other words, when it is determined that the elapsed time has reached the predetermined time T1 (yes in S311), the control device 80 proceeds to the process of step S313. In step S313, the control device 80 reads out the set volume of the played music output (played) via the speaker 82 from the RAM, and determines whether or not the set volume is "0". In addition, at the start of the control device 80, the set volume of the playback music is output (played) through the speaker 82, substituted with "0" and stored in the RAM.

If it is determined that the set volume of the reproduced music outputted (reproduced) through the speaker 82 is "0" (yes in S313), the control device 80 ends the sub-process and proceeds to the process of step S283 (see fig. 21), which will be described later. On the other hand, if it is determined that the set volume at which the reproduced music is output (reproduced) via the speaker 82 is not "0" (no in S313), the control device 80 proceeds to the process of step S314.

In step S314, the control device 80 reads out the set volume of the reproduced music outputted (reproduced) from the RAM via the speaker 82, lowers the set volume by Δ V2 level, stores the same in the RAM again, and then ends the sub-process, and proceeds to the process of step S283 (see fig. 21). In addition, the Δ V2 level is stored in the EEPROM in advance. As shown in fig. 21, in step S283, the control device 80 reads out the set volume of the played music from the RAM, outputs (plays) the played music via the speaker 82 at the set volume, and then proceeds to the processing of step S284 (see fig. 22).

Here, an example of outputting (playing) of the playing music (S278 to S283) by the control device 80 when the average swing arm speed of the user is smaller than the predetermined swing arm speed (reference predetermined speed), in other words, when the average swing arm speed of the user is slower than the predetermined swing arm speed (reference predetermined speed) (S277: no) will be described with reference to fig. 25. As shown in fig. 25, until the elapsed time from the time T12 when the average swing arm speed of the user becomes slower than the predetermined swing arm speed value (reference predetermined speed) and the time T16 reaches a predetermined time T1 (for example, 5 seconds), the control device 80 outputs (plays) the music via the speaker 82 at a set volume set to a volume predetermined value (reference volume). In addition, a volume predetermined value (reference volume) is associated with a user ID in advance and stored in an EEPROM.

Thereafter, the control device 80 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 82. Thus, the user can recognize that the swing arm average speed is slower than the swing arm speed predetermined value (reference predetermined speed) from the decrease in the volume of the played music. As a result, the user can continue the swing arm walking training by attempting to perform the swing arm walking again while the average swing arm speed is equal to or higher than the predetermined swing arm speed (reference predetermined speed), in other words, by attempting to increase the swing arm speed further, the user is interested in the swing arm walking training.

Further, the control device 80 outputs (plays) the sound volume of the played music via the speaker 82 without lowering the sound volume from the set sound volume of the sound volume predetermined value (reference sound volume) set at the time T14, because the swing arm average speed of the user is equal to or higher than the swing arm speed predetermined value (reference predetermined speed) until the elapsed time from the time T14 when the swing arm average speed of the user becomes slower than the swing arm speed predetermined value (reference predetermined speed) reaches the predetermined time T1. Thus, the user can stably perform arm swing walking training while listening to the music.

Further, the control device 80 outputs (plays) the playback music via the speaker 82 at the set volume set at the time T18 until the elapsed time from the time T18 when the average swing arm speed of the user becomes lower than the predetermined swing arm speed value (reference predetermined speed) after a short time (for example, after one second has elapsed) reaches a predetermined time T1 (for example, 5 seconds) after the swing arm average speed of the user becomes equal to or higher than the predetermined swing arm speed value (reference predetermined speed) at the time T17. Thereafter, the control device 80 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 82. Thus, the user can listen to the music played with the volume gradually decreasing and end the swing arm walking training.

Next, as shown in fig. 21, when it is determined in step S277 that the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed value (reference predetermined speed) (yes in S277), the control device 80 proceeds to step S279. In step S279, the control device 80 reads out from the RAM an elapsed time from when the swing arm average speed becomes smaller than the swing arm speed predetermined value (reference predetermined speed) for the first time after the swing arm average speed becomes equal to or larger than the swing arm speed predetermined value (reference predetermined speed). Then, control device 80 initializes the count value of the elapsed time by substituting "0", stores the value in the RAM again, and proceeds to the processing of step S280.

In step S280, the control device 80 reads out the set volume of the played music output (played) via the speaker 82 from the RAM, increases the set volume by Δ V1 level, and stores it in the RAM again, and then proceeds to the process of step S281. The level Δ V1 is set to be higher than the level Δ V2 that lowers the set volume in step S314, and is set so that the set volume can be raised from "0" to a volume predetermined value (reference volume) in a short time (for example, 0.5 to 1 second). In addition, the Δ V1 level is stored in the EEPROM in advance.

In step S281, the control device 80 reads out the set volume of the reproduced music output (reproduced) through the speaker 82 from the RAM, and determines whether or not the set volume is equal to or greater than a predetermined volume value (reference volume). When it is determined that the set volume of the reproduced music outputted (reproduced) through the speaker 82 is a volume smaller than the predetermined volume value (reference volume) (S281: no), the control device 80 proceeds to the process of step S283, which will be described later.

On the other hand, when it is determined that the set volume of the reproduced music outputted (reproduced) through the speaker 82 is equal to or greater than the predetermined volume value (reference volume) (yes in S281), the control device 80 proceeds to the process of step S282. In step S282, the control device 80 reads out the volume predetermined value (reference volume) from the EEPROM, sets the set volume of the reproduced music output (reproduced) via the speaker 82 to the volume predetermined value (reference volume), stores the volume in the RAM again, and then proceeds to the processing of step S283. In step S283, the control device 80 reads out the set volume of the played music from the RAM, and outputs (plays) the played music via the speaker 82 at the set volume, and then proceeds to the processing of step S284.

Here, an example of outputting (playing) of the playing music (S280 to S283) by the control device 80 when the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed value (reference predetermined speed) (yes in S277) will be described with reference to fig. 25. As shown in fig. 25, when the average swing arm speed of the user reaches the predetermined swing arm speed (reference predetermined speed) or more at times T11, T13, T15, and T17 and the average swing arm speed is equal to or more than the predetermined swing arm speed (reference predetermined speed), the control device 80 increases the set volume of the reproduced music by Δ V1 levels and outputs (reproduces) the music via the speaker 82.

Then, when the set volume of the reproduced music reaches the volume predetermined value (reference volume), the control device 80 sets the set volume of the reproduced music to a fixed volume of the volume predetermined value (reference volume) even if the average swing arm speed is equal to or higher than the swing arm speed predetermined value (reference predetermined speed). Thus, the user can easily recognize that the swing arm walking is performed at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed) using the walking support robot 3, based on the music played at the volume predetermined value (reference volume).

Further, the user can listen to music and perform a swing arm walking training with pleasure at a swing arm average speed equal to or higher than a predetermined swing arm speed value (reference predetermined speed), and the swing arm walking training can be made to last for a long time to improve the training effect. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

Next, as shown in fig. 22, in step S284, the control device 80 reads out the tempo flag from the RAM, and determines whether or not the tempo flag is set on, in other words, whether or not the tempo start button 90F (see fig. 10) has been pressed. If it is determined that the tempo flag is set to on (yes in S284), control device 80 proceeds to the process of step S285.

In step S285, the control device 80 acquires a reference stride length corresponding to the age and height of the user stored in the EEPROM in advance, from a stride length map (not shown) stored in the EEPROM in advance. Then, the control device 80 calculates a walking cycle from the reference step length and the predetermined swing arm speed value (reference predetermined speed) of the user stored in the EEPROM in step S260, stores the walking cycle in the RAM as a target walking cycle, and then proceeds to the processing of step S286. For example, the control device 80 may set the travel speed of the walking support robot 3 corresponding to the swing arm speed predetermined value (reference predetermined speed) as the walking speed of the user. Then, the control device 80 calculates a walking cycle by dividing the reference stride length of the user by the walking speed, and stores the walking cycle as a target walking cycle in the RAM.

In step S259, the control device 80 may receive the swing arm speed predetermined value and the target walking cycle of the user from the server 9 and store them in the EEPROM. In this case, the control device 93 of the server 9 acquires the reference stride corresponding to the age and height of the user stored in the EEPROM in advance, from a stride map (not shown) stored in the EEPROM in advance. Then, the control device 93 calculates the target walking cycle of the user from the reference stride length of the user and the swing arm speed predetermined value (reference predetermined speed).

In step S286, the control device 80 outputs (plays) periodic sounds (for example, a rhythm sound of a metronome, a rhythm sound of a musical instrument, a cheering sound, etc. at a constant cycle) set to a cycle equal to the target walking cycle via the speaker 82 (periodic stimulus information), and proceeds to the processing of step S288 described later. Thus, the control device 80 can teach the user the walking timing for performing the swing arm walking at the swing arm speed predetermined value (reference predetermined speed).

Therefore, the user can perform swing arm walking training with improved average swing arm speed by performing swing arm walking at the taught walking timing, and can improve walking ability. Further, the user can easily grasp the timing of the swing arm walking by performing the swing arm walking at the taught walking timing, and can easily perform the swing arm walking training for improving the average speed of the swing arm.

On the other hand, if it is determined in step S284 that the tempo flag is set to off (no in S284), the control device 80 proceeds to the process of step S287. In step S287, the control device 80 stops the output (playback) via the speaker 82 of periodic sounds (e.g., a metronome tempo sound of a constant period, a rhythm sound of a musical instrument, a cheering sound, etc.) (periodic stimulus information) set to a period equal to the target walking period, and then proceeds to the processing of step S288.

In step S288, the control device 80 reads out the training flag from the RAM, and determines whether the training flag is set to off, in other words, whether the end button 90B is pressed. If it is determined that the training flag is set to on (no in S288), the control device 80 ends the sub-processing and ends the first music output processing.

On the other hand, if it is determined that the training flag is set to off (yes in S288), the control device 80 proceeds to the process of step S289. In step S289, the control device 80 stops the periodic sounds (e.g., the beat sounds of a metronome of a certain period, the rhythm sounds of musical instruments, applause sounds, etc.), and the output (play) of the played music via the speaker 82, and then proceeds to the processing of step S290. In step S290, the control device 80 reads out the tempo flag and the music play flag from the RAM, sets each flag to off, and stores it in the RAM again, followed by proceeding to the process of step S291. In step S291, the control device 80 executes a sub-process of "training information transmission process" described later, and then ends the sub-process, thereby ending the first music output process.

Here, a sub-process of the "training information transmission process" executed by the control device 80 will be described with reference to fig. 24. As shown in fig. 24, first, in step S321, the control device 80 extracts the arm swing speed information stored in the EEPROM from the start button 90A (see fig. 10) being pressed to the end button 90B (see fig. 9) being pressed, extracts the arm swing average speed of the user during the arm swing walking training at this time, and calculates the average speed, the maximum speed, and the minimum speed of the extracted arm swing average speeds. For example, the control device 80 calculates the average speed, the maximum speed, and the minimum speed of the plurality of swing arm average speeds from the plurality of swing arm average speeds stored in the EEPROM at time T11 to time T18 shown in the upper stage of fig. 25.

Then, the control device 80 generates and stores into the RAM swing arm information including the average speed, the maximum speed, and the minimum speed calculated from the plurality of swing arm average speeds, and then proceeds to the processing of step S322. In step S322, the control device 80 generates and stores into the RAM the played music information of the song names of the music displayed in the song name display fields 90GB (see fig. 9) of the music selection section 90G (see fig. 9) displayed on the operation panel screen image 90, which is arranged in order from the top column, and then proceeds to the processing of step S323.

In step S323, the control device 80 reads out the swing arm information and the play music information from the RAM. Then, the control device 80 reads out the user ID from the EEPROM, generates training result information in which the user ID is added to the swing arm information and the music information, transmits the training result information to the server 9 via the communication device 87, and then ends the sub-processing, returns to the sub-processing of the music playing processing, and ends the first music output processing.

[ training information Generation processing ]

Next, a description will be given of "training information generation processing" executed by the control device 93 of the server 9, based on fig. 26. The program shown in the flowchart of fig. 26 is stored in advance in the EEPROM of the control device 93.

As shown in fig. 26, first, in step S411, the control device 93 determines whether or not training result information in which a user ID is added to the swing arm information and the music information is received via the communication device 97. When it is determined that the training result information in which the user ID is added to the swing arm information and the music information is not received (no in S411), the control device 93 proceeds to the process of step S413 described later.

On the other hand, when it is determined that training result information in which the user ID is added to the swing arm information and the music information is received (YES in S411), the control device 93 proceeds to the process of step S412. In step S412, the control device 93 extracts the user ID and the swing arm information including the average speed, the maximum speed, and the minimum speed of the average speed of the swing arm from the training result information. Then, the control device 93 associates the swing arm information with the user ID, and adds time information on the swing arm walking training and the like to the time-series swing arm speed storage unit 96C (see fig. 10) for each user, which is stored in the storage device 96.

Next, the control device 93 extracts, from the training result information, the user ID and the broadcast music information in which the music titles of the music pieces displayed in the music title display fields 90GB (see fig. 9) are arranged in order from the top field. Then, the control device 93 reads out music information corresponding to the reproduced music information from the music information database 96A, associates each music information with the user ID, adds time information on the swing arm walking training, and the like, stores the time information in the user-specific music information storage unit 96B (see fig. 10) of the storage device 96 in time series, and proceeds to the processing of step S413. In this way, a plurality of (for example, five) pieces of music information preferred by the user are stored in association with the user ID and the name of the user.

In step S413, the control device 93 determines whether or not communication data including an identification ID for identifying the smartphone 5, a user ID of the user, a music information request command, and a swing arm speed specification value request command is received via the communication device 97. When it is determined that the communication data including the identification ID for identifying the smartphone 5, the user ID of the user, the music information request command, and the swing arm speed specification value request command has not been received by the communication device 97 (S413: no), the control device 93 ends the processing.

On the other hand, when it is determined that the communication data including the identification ID for identifying the smartphone 5, the user ID of the user, the music information request command, and the swing arm speed specification value request command is received via the communication device 97 (S413: yes), the control device 93 stores the identification ID for identifying the smartphone 5 and the user ID of the user in the RAM, and then proceeds to the processing of step S414. In step S414, the control device 93 reads out the latest plural pieces (for example, five pieces) of music information corresponding to the user IDs from the music information storage unit 96B (see fig. 10) for each user of the storage device 96. Then, the control device 93 generates and stores music information made up of the latest plural (for example, five) pieces of music information in the RAM, and then proceeds to the processing of step S415.

In step S415, the control device 93 reads the past month swing arm information corresponding to the user ID from the user-specific swing arm speed storage unit 96C of the storage device 96, and generates a swing arm speed predetermined value (reference predetermined speed) based on the swing arm information. Then, the control device 93 associates the generated swing arm speed predetermined value (reference predetermined speed) with the user ID, adds time information on the swing arm walking training, and stores the time information in the user-specific swing arm speed predetermined value storage unit 96D (see fig. 10) of the storage device 96 in time series, and the process proceeds to step S416.

For example, the control device 93 sequentially reads out the average speed of the past one-month swing arm average speed corresponding to the user ID from the user-specific swing arm speed storage unit 96C in time series, and calculates the average value of the average speeds. Then, the control device 93 associates the average value with the user ID as a swing arm speed predetermined value (reference predetermined speed), adds time information on the swing arm walking training, and the like, and stores the time information in the user-specific swing arm speed predetermined value storage unit 96D (see fig. 10) of the storage device 96 in time series, and then proceeds to the processing of step S416.

In addition, when the comfortable walking speed of 10m of the user (so-called normal walking speed of 10 m) is measured, the average speed of the swing arm of the user may also be measured. The swing arm average speed may be stored in advance in a user-specific swing arm speed predetermined value storage unit 96D (see fig. 10) of the storage device 96 in association with the user ID as a swing arm speed predetermined value (reference predetermined speed).

In step S416, the control device 93 reads out, from the RAM, music information made up of a plurality of (e.g., five) pieces of music information generated in the above-described step S414. The control device 93 reads out the latest swing arm speed predetermined value (reference predetermined speed) corresponding to the user ID from the user-specific swing arm speed predetermined value storage unit 96D. Then, the control device 93 generates communication data including the music information and the latest predetermined swing arm speed value (reference predetermined speed). Then, the control device 93 adds the "identification ID" and the "user ID" of the smartphone 5 received in the above-described step S413 to the communication data including the music information and the predetermined arm swing speed value (reference predetermined speed), transmits the data to the smartphone 5 via the communication device 97, and then ends the processing.

Here, the communication device 35 functions as an example of a device communication device. The communication device 87 functions as an example of a terminal communication device. The smartphone 5 functions as an example of a mobile terminal. The operation unit 85 of the smartphone 5 functions as an example of the first selection receiving unit. The communication device 97 functions as an example of a server communication device. The control device 80 of the smartphone 5 functions as an example of a walking state acquisition unit, a sensing information output unit, a sensing output adjustment unit, an elapsed time measurement unit, an elapsed time determination unit, a terminal transmission unit, a terminal reception unit, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit.

The control device 40 of the walking support robot 3 functions as an example of a travel control device. The travel speed detection devices 33LE and 33RE function as an example of a travel speed detection device. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit. The operation units 24L and 24R, the pressing members 25A and 25B, and the movement amount detection devices 21LS and 21RS constitute an example of a swing arm mechanism unit.

[ second embodiment ]

Next, a walking support system 99 according to a second embodiment will be described with reference to fig. 27 to 31. The same reference numerals as those used in the walking support system 1 according to the first embodiment denote the same or corresponding parts as those used in the walking support system 1 according to the first embodiment.

As shown in fig. 1, the walking support system 99 according to the second embodiment has substantially the same configuration as the walking support system 1 according to the first embodiment. However, the difference is that the control device 80 of the smartphone 5 constituting the walking support system 99 according to the second embodiment displays the operation panel screen 90 (see fig. 9) on the display 81. Thereafter, the control device 80 of the smartphone 5 executes "second music output processing" (see fig. 27) described later at predetermined time intervals (for example, at intervals of several [ ms ]), instead of the "first music output processing" (see fig. 15).

[ second music output processing ]

The "second music output process" executed by the control device 80 of the smartphone 5 will be described with reference to fig. 27 to 31. The programs shown in the flowcharts of fig. 27 to 29 are stored in advance in the EEPROM of the control device 80.

As shown in fig. 27, in step S31, the control device 80 executes the sub-process of the "mode selection process" executed in the above-described step S21 of the above-described "first music output process" (refer to fig. 15), and thereafter proceeds to the process of step S32. In step S32, the control device 80 executes the sub-process of "start/stop process" executed in step S22, and then proceeds to the process of step S33.

In step S33, the control device 80 executes the sub-process of the "information acquisition process" executed in the above-described step S23, and thereafter proceeds to the process of step S34. In step S34, the control device 80 executes the sub-process of the "music selection process" executed in the above-described step S24, and thereafter proceeds to the process of step S35. In step S35, the control device 80 executes a sub-process of the "second music playing process" (see fig. 28) instead of the sub-process of the "music playing process" (see fig. 21 and 22), and then ends the second music output process.

[ second music playback processing ]

Next, a sub-process of the above-described "second music playing process" will be described based on fig. 28. As shown in fig. 28, control device 80 first executes the processing of steps S271 to S277 described above (see fig. 21). When it is determined that the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed (reference predetermined speed) (yes in S277), the control device 80 proceeds to the process of step S501.

In step S501, the control device 80 reads out music information set to play music from the music information stored in the EEPROM in step S260, extracts a predetermined playback speed value (reference playback speed) included in the music information, and stores the extracted music information in the RAM. Then, the control device 80 reads out the playback speed at the time of outputting (playing) the music through the speaker 82 from the RAM, sets the playback speed to a playback speed predetermined value (reference playback speed), stores the playback speed in the RAM again, and then proceeds to the processing of step S502. In step S502, the control device 80 reads out the playback speed of the playback music from the RAM, outputs (plays) the playback music via the speaker 82 at the playback speed, and then proceeds to the processing of step S284 (see fig. 22) described above.

Here, an example of outputting (playing) of the playing music (S501 to S502) by the control device 80 when the average swing arm speed of the user is equal to or higher than a predetermined swing arm speed value (reference predetermined speed) (yes in S277) will be described with reference to fig. 31. As shown in fig. 31, the control device 80 sets the playback speed to the playback speed predetermined value (reference playback speed) and outputs (plays) the music via the speaker 82 while the user's average swing arm speed is equal to or higher than the swing arm speed predetermined value (reference predetermined speed) for each of the times T21 to T22, T23 to T24, and T25 to T26.

Thus, the user can easily recognize that the swing arm walking is performed at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed) using the walking support robot 3, based on the case where the played music is played at the play speed predetermined value (reference play speed). Further, the user can listen to music and perform a swing arm walking training with pleasure at a swing arm average speed equal to or higher than a predetermined swing arm speed value (reference predetermined speed), and the swing arm walking training can be made to last for a long time to improve the training effect. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

On the other hand, if it is determined in step S277 that the average swing arm speed of the user is lower than the predetermined swing arm speed value (reference predetermined speed), in other words, lower than the predetermined swing arm speed value (reference predetermined speed) (no in S277), the control device 80 proceeds to the process of step S503. In step S503, the control device 80 executes a sub-process of "playback speed reduction processing" for reducing the playback speed of the playback music (see fig. 29), which will be described later, and then proceeds to the processing of step S502 described above.

[ playback speed reduction processing ]

Here, a sub-process of the "playback speed reduction process" executed by the control device 80 in step S503 will be described with reference to fig. 29 and 30. As shown in fig. 29, first, in step S511, the control device 80 reads out the swing arm speed predetermined value (reference predetermined speed) stored in the EEPROM in step S260, and also reads out the swing arm average speed stored in the RAM in step S253. Then, the control device 80 calculates a speed difference between the swing arm average speed and the swing arm speed predetermined value (reference predetermined speed), in other words, subtracts the swing arm average speed calculation speed difference from the swing arm speed predetermined value (reference predetermined speed), and stores the calculated speed difference in the RAM, and then the process proceeds to step S512.

In step S512, the control device 80 acquires the amount of deceleration of the playing speed of the playing music, for example, using the playing deceleration amount map M1 that maps the speed difference with the amount of deceleration of the playing speed shown in fig. 30, stores it in the RAM, and then proceeds to the processing of step S513. Fig. 30 shows an example of a playback deceleration amount map M1 in which a speed difference between the average swing arm speed and a predetermined swing arm speed (reference predetermined speed) is associated with a deceleration amount of the playback speed. The play deceleration amount map M1 is stored in advance in the EEPROM.

In step S513, the control device 80 reads out music information set to play music from the music information stored in the EEPROM in step S260, extracts a predetermined playback speed value (reference playback speed) included in the music information, and stores the extracted music information in the RAM. Then, the control device 80 reads out the playback speed at the time of outputting (playing) the played music via the speaker 82 from the RAM, sets the playback speed to the value obtained by subtracting the deceleration amount of the playback speed obtained in step S512 from the predetermined playback speed (reference playback speed), stores the playback speed in the RAM again, ends the sub-process, and advances the process to step S502.

As shown in fig. 28, in step S502, the control device 80 reads out the playback speed of the playback music from the RAM, and outputs (plays) the playback music via the speaker 82 at the playback speed, and then proceeds to the processing of step S284 described above. Then, the control device 80 executes the processing of step S284 to step S291 described above (see fig. 22), and then ends this sub-processing, and ends the second music output processing.

Here, an example of outputting (playing) of the playing music (S503 to S502) by the control device 80 will be described based on fig. 31, in a case where the average swing arm speed of the user is smaller than the predetermined swing arm speed (reference predetermined speed), in other words, in a case where the average swing arm speed is lower than the predetermined swing arm speed (reference predetermined speed) (S277: no). As shown in fig. 31, the control device 80 decelerates the playback speed of the playback music gradually from the playback speed predetermined value (reference playback speed) as the deceleration amount from the swing arm speed predetermined value (reference predetermined speed) increases during the respective times T22 to T23, T24 to T25, and T26, at which the swing arm average speed of the user is slower than the swing arm speed predetermined value (reference predetermined speed), and outputs (plays) the playback music via the speaker 82.

Then, the control device 80 increases the playback speed of the played music to gradually approach the predetermined playback speed value (reference playback speed) as the user's average swing arm speed increases again, and outputs (plays) the played music via the speaker 82. Thus, the user can recognize that the average speed of the swing arm decreases as the playing speed of the played music decreases. As a result, the user can continue the swing arm walking training by attempting to perform the swing arm walking again while the average swing arm speed is equal to or higher than the predetermined swing arm speed (reference predetermined speed), in other words, by attempting to increase the swing arm speed further, the user is interested in the swing arm walking training.

Here, the communication device 35 functions as an example of a device communication device. The communication device 87 functions as an example of a terminal communication device. The smartphone 5 functions as an example of a mobile terminal. The operation unit 85 of the smartphone 5 functions as an example of the first selection receiving unit. The communication device 97 functions as an example of a server communication device. The control device 80 of the smartphone 5 functions as an example of a walking state acquisition unit, a sensory information output unit, a sensory output adjustment unit, a terminal transmission unit, a terminal reception unit, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit.

The control device 40 of the walking support robot 3 functions as an example of a travel control device. The travel speed detection devices 33LE and 33RE function as an example of a travel speed detection device. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit. The operation units 24L and 24R, the pressing members 25A and 25B, and the movement amount detection devices 21LS and 21RS constitute an example of a swing arm mechanism unit.

[ third embodiment ]

Next, a walking support system 101 according to a third embodiment will be described with reference to fig. 32 to 41. The same reference numerals as those used in the walking support system 1 according to the first embodiment denote the same or corresponding parts as those used in the walking support system 1 according to the first embodiment.

The walking support system 101 according to the third embodiment has substantially the same configuration as the walking support system 1 according to the first embodiment. However, as shown in fig. 32, the walking support system 101 is composed of a walking support robot 102 and a server 9. The walking support robot 102 and the server 9 are configured to be able to transmit and receive information data by wireless communication with each other via a network 7 such as the internet via Wi-Fi (registered trademark) or the like.

As shown in fig. 32, the walking support robot 102 according to the third embodiment has substantially the same configuration as the walking support robot 3. However, the walking support robot 102 is provided with a display device 103 on the front side of the main switch 29 on the upper end surface of the handle holding portion 22R, instead of the smartphone 5 and the attachment member 18. The display device 103 may be provided on the upper end surface of the handle holding portion 22L. In addition, the control device 40 is electrically connected to a communication device 37 instead of the communication device 35. The control device 40 is configured to be capable of transmitting and receiving information data by wireless communication with the server 9 via the communication device 37 and the network 7 such as the internet by Wi-Fi (registered trademark) or the like.

As shown in fig. 33, the display device 103 includes a display 104 such as a liquid crystal display, a speaker 105 disposed above an upper edge of the display 104, a microphone 106 disposed below a lower edge of the display 104, an operation unit 107 such as a touch panel covering the entire display screen of the display 104, and the like.

[ control Structure of the Walking support robot 102 ]

As shown in fig. 34, the control configuration of the walking support robot 102 is substantially the same as that of the walking support robot 3 according to the first embodiment. Therefore, the control device 40 housed in the housing box 14 drives and controls the entire walking support robot 102.

However, as shown in fig. 34, a communication device 37 is electrically connected instead of the communication device 35 (refer to fig. 1). The control device 40 is configured to be connectable to a network 7 (see fig. 32) such as the internet via the communication device 37 by Wi-Fi (registered trademark) or the like. A display 104, a speaker 105, a microphone 106, an operation unit 107, and the like constituting the display device 103 are electrically connected to the control device 40.

The control device 40 inputs a voice detection signal from the microphone 106, an operation signal corresponding to an operation of the touch panel or the like by the user from the operation unit 107, and the like. The control device 40 outputs an image display signal for displaying images such as various icons and various input buttons to the display 104, and outputs a drive signal for outputting voice, music, periodic sound, and the like to the speaker 105.

[ details of the control of the gait training ]

Next, a description will be given of a processing procedure performed by the control device 40 of the walking support robot 102 and the control device 93 of the server 9 when the user performs walking training using the walking support robot 102 of the walking support system 101 configured as described above, based on fig. 35 to 41.

< processing procedure by the control device 93 of the server 9 >

The control device 93 of the server 9 executes the "training information generation processing" shown in fig. 26 at predetermined time intervals (for example, at intervals of several [ ms ]), as in the walking support system 1 according to the first embodiment, advances the processing to step S411, and executes the processing after step S411. In step S416, the control device 93 of the server 9 generates communication data including the music information generated in step S414 and the latest swing arm speed predetermined value (reference predetermined speed) stored in the user-specific swing arm speed predetermined value storage unit 96D in step S415.

Then, the control device 93 adds the "identification ID" and the user ID of the walking support robot 102 received in step S413 to the communication data including the music information and the predetermined arm swing speed value (reference predetermined speed), transmits the result to the walking support robot 102 via the communication device 97, and ends the processing.

< procedure of processing by the control device 40 of the walking assistance robot 102 >

When the user turns on the main switch 29 of the walking support robot 102, the control device 40 of the walking support robot 102 is activated, and as shown in the left side of fig. 33, a user registration screen 109 for registering the name or user ID of the user who uses the walking support robot 102 is displayed on the display 104 of the display device 103, and the display device 103 functions as an operation panel for user registration.

Specifically, as shown on the left side of fig. 33, the control device 40 displays the character button 81G in the center portion of the display 104, and displays a display field 81F for displaying the name or the user ID input by pressing the character button 81G on the upper side of the character button 81G. Further, control device 40 displays, on the lower right side of character button 81G, registration button 81H for instructing registration of the name or user ID displayed in display field 81F.

As shown on the left side of fig. 33, the user presses the character button 81G to display the name or user ID of the user using the walking support robot 102 in the display field 81F. Thereafter, when the user presses the registration button 81H with the finger 89, the control device 40 stores the user name or the user ID in the EEPROM, and then, for example, as shown on the right side of fig. 33, causes the display device 103 to function as an operation panel of the walking support robot 102, and starts and executes a walking training program including a program of a second-step training support process (see fig. 35) described later.

Specifically, as shown on the right side of fig. 33, the control device 40 displays an operation panel screen 90 on which a start button 90A, an end button 90B, an assist start button 90C, a training start button 90D, a remaining battery amount display unit 90E, a tempo start button 90F, a music selection unit 90G, and the like are displayed on the display 104. The control device 40 detects that the buttons 90A to 90D and 90F are pressed by the finger 89 via the operation unit 107 formed of a touch panel or the like.

For example, when the start button 90A displayed on the display 104 is pressed, the travel control of the walking support robot 102 is started. When the end button 90B is pressed, the travel control of the walking support robot 102 is stopped. When the assist start button 90C is pressed, the operation mode of the walking support robot 102 is set to the assist mode. When the training start button 90D is pressed, the operation mode of the walking support robot 102 is set to the swing arm training mode or the brake training mode. When the rhythm start button 90F is pressed, a rhythm sound in accordance with the target walking cycle is output.

The remaining battery level display unit 90E displays the remaining battery level of the battery B of the walking support robot 102. The music selection unit 90G is an input unit for the user to select a music piece to be output during the walking training. For example, the user presses the song title selection button 90GA to move and display the song title of the favorite music piece in the uppermost song title display field 90 GB. As a result, during the walking training using the swing arm training mode of the walking support robot 102, the music of the song title displayed in the uppermost song title display field 90GB is output (played) via the speaker 105.

[ second training support Process ]

Next, the "second-step training support process" executed by the control device 40 of the walking support robot 102 will be described with reference to fig. 35 to 41. The programs shown in the flowcharts of fig. 35 to 41 are stored in advance in the EEPROM of the control device 40.

As shown in fig. 35, first, in step S41, the control device 40 executes the sub-process of the "mode selection process" in step S21 (see fig. 16) of the above-described "first music output process" (see fig. 15) executed by the control device 80 of the smartphone 5, and then proceeds to the process of step S42. In step S42, the control device 40 executes a sub-process of "second start/stop process" (see fig. 36), and thereafter, proceeds to a process of step S43. In step S43, the control device 40 executes "second battery processing" (refer to fig. 37), and then proceeds to the processing of step S44. In step S44, the control device 40 executes the "second travel control process" (refer to fig. 38), and then proceeds to the process of step S45.

In step S45, the control device 40 executes "second information acquisition processing" (refer to fig. 39), and thereafter proceeds to the processing of step S46. In step S46, the control device 40 executes the sub-process of the "music selection process" in step S24 (see fig. 20) of the above-described "first music output process" (see fig. 16) executed by the control device 80 of the smartphone 5, and then proceeds to the process in step S47. In step S47, the control device 40 executes the "third music playback process" (see fig. 40 and 41), and then ends the second-step training support process.

[ second Start/stop treatment ]

Next, a sub-process of the "second start/stop process" in step S42 will be described with reference to fig. 36. As shown in fig. 36, first, in step S601, control device 40 determines whether or not start button 90A (see fig. 33) of operation panel screen 90 (see fig. 33) displayed on display 104 is pressed with finger 89 (see fig. 33). When the user starts walking with the walking training in the arm swing training mode or the brake training mode or with the walking support in the assist mode, the user presses the start button 90A with the finger 89.

If it is determined that start button 90A has been pressed with finger 89 (yes in S601), control device 40 proceeds to the process of step S602. In step S602, control device 40 reads out the training flag from the RAM, and determines whether or not the training flag is set to on. If it is determined that the training flag is set to off (no in S602), control device 40 proceeds to the process of step S604, which will be described later. On the other hand, if it is determined that the training flag is set to on (yes in S602), control device 40 proceeds to the process of step S603.

In step S603, the control device 40 reads out the training start flag from the RAM, sets the training start flag to on, and stores the training start flag in the RAM again, and then proceeds to the processing of step S604. In step S604, the control device 40 reads out the assist flag from the RAM, and determines whether or not the assist flag is set to on. If it is determined that the assist flag is set to off (no in S604), the control device 40 ends the sub-process, and proceeds to the sub-process of the "second battery process" in step S43. At the time of activation of the control device 40, the training start flag is set to off and stored in the RAM.

On the other hand, if it is determined that the assist flag is set to on (yes in S604), control device 40 proceeds to the process of step S605. In step S605, the control device 40 reads the assist start flag from the RAM, sets the assist start flag to on, stores the assist start flag in the RAM again, and then ends the sub-process, and proceeds to the sub-process of the "second battery process" in step S43. At the time of startup of the control device 40, the assist start flag is set to off and stored in the RAM.

On the other hand, if it is determined in step S601 that start button 90A has not been pressed by finger 89 (no in S601), control device 40 proceeds to the process of step S606. In step S606, control device 40 determines whether or not end button 90B (see fig. 33) of operation panel screen 90 (see fig. 33) displayed on display 104 has been pressed with finger 89 (see fig. 33). When the user finishes the walking exercise in the swing arm exercise mode or the brake exercise mode, or the user presses the end button 90B with the finger 89 while walking is being assisted in the assist mode.

If it is determined that end button 90B has not been pressed with finger 89 (no in S606), control device 40 ends the sub-process, and proceeds to the sub-process of "second battery process" in step S43. Thus, when the user walks in a walking exercise in the swing arm exercise mode or the brake exercise mode, or in a walking support in the assist mode, the user continues walking in this state.

On the other hand, if it is determined that end button 90B has been pressed with finger 89 (YES in S606), control device 40 proceeds to the process of step S607. In step S607, the control device 40 reads out the training flag, the auxiliary flag, the rhythm flag, the music information acquisition flag, and the second swing arm flag from the RAM, sets them to off, respectively, and stores them in the RAM again, and then proceeds to the process of step S608.

In addition, the training flag, the auxiliary flag, the tempo flag, the music information acquisition flag, and the second swing arm flag are set to off at the time of activation of the control device 40 and stored in the RAM. As will be described later, when the music information is received from the server 9, the music information acquisition flag is set to on (see fig. 39). As will be described later, the second swing arm flag is set to on when the EEPROM stores the swing arm speed information in time series (see fig. 38).

In step S608, the control device 40 reads out the training start flag and the assist start flag from the RAM, sets them to off, respectively, stores them in the RAM again, and then ends this sub-process, and proceeds to the sub-process of the "second battery process" in step S43. Thereby, the walking support robot 102 is in a stopped state (see fig. 38).

[ second Battery treatment ]

Next, a sub-process of the "second battery process" in step S43 described above will be described with reference to fig. 37. As shown in fig. 37, in step S611, the control device 40 detects the remaining battery level of the battery B based on a remaining battery level (SOC) detection signal input from a remaining battery level detection device (not shown) provided in the battery B, and then proceeds to the process of step S612. In step S612, control device 40 displays the remaining battery level (SOC) on remaining battery level display unit 90E (see fig. 33), and then ends the sub-process, and proceeds to the sub-process of the "second travel control process" in step S44.

[ second travel control processing ]

Next, a sub-process of the "second travel control process" in step S44 described above will be described with reference to fig. 38. As shown in fig. 38, the sub-process of the second travel control process is substantially the same as the sub-process (see fig. 13) of the "travel control process" executed by the control device 40 of the walking support robot 3 in step S12 of the "walking training process" (see fig. 11) described above.

However, as shown in fig. 38, the sub-process of the "second travel control process" differs in that the control device 40 executes the processes of step S621 to step S623 instead of the process of step S126, and then proceeds to the process of step S132. Note that the control device 40 differs from the above-described control device in that the processing of step S624 is executed instead of the processing of step S133.

Specifically, in step S621, the control device 40 reads out the movement speed of each of the handles 21L and 21R, that is, the user' S left and right swing arm speeds from the RAM, and generates "swing arm speed information" including the left and right swing arm speeds. Then, the control device 40 associates data including "swing arm speed information" including the left and right swing arm speeds of the user and the time information acquired from the timer with a user ID for identifying the user, stores the data in the EEPROM in time series, and then proceeds to the process of step S622.

In step S622, the control device 40 sequentially reads out a plurality of pieces of "swing arm speed information" stored in the EEPROM in association with the user ID from the latest "swing arm speed information" to a time traced back for a predetermined time (for example, approximately 1 second to 2 seconds "), calculates" swing arm average speed "and stores it in the RAM, and then proceeds to the processing of step S623.

For example, as shown in fig. 19, when the swing arm of the user is fast, the swing arm speed of the grip 20L or the grip 20R changes in a short cycle as shown by the solid swing arm speed curve 55. Further, when the swing arm of the user is slow, the swing arm speed of the grip 20L or the grip 20R changes at a relatively long cycle as shown by the broken-line swing arm speed curve 56. When the grips 20L and 20R are located at the front limit position Ma (front end) or the rear limit position Mb (rear end), the swing arm speed is substantially 0.

Therefore, the control device 40 sequentially reads out a plurality of pieces of "swing arm speed information" of the grip 20L or the grip 20R from the EEPROM, the plurality of pieces of "swing arm speed information" being obtained from the latest "swing arm speed information" to a time traced back for a predetermined time (for example, approximately 1 second to 2 seconds "). Then, the control device 40 extracts a plurality of swing arm speeds from the latest swing arm speed to about one cycle in the past from the change in the swing arm speed included in each "swing arm speed information". Next, the control device 40 calculates the average speeds V1, V2 of the extracted plurality of swing arm speeds of about one cycle, stores the same in the RAM as the "swing arm average speed", and then proceeds to the process of step S623.

As shown in fig. 38, in step S623, the control device 40 reads out the second swing arm flag indicating that the swing arm speed information is stored in the EEPROM in time series from the RAM, sets the flag to on, and stores the flag in the RAM again, and then proceeds to the processing of step S132. In addition, the second swing arm flag is set to off at the time of activation of the control device 40 and stored in the RAM.

After the process of step S132 is executed, control device 40 proceeds to a process of step S624. In step S624, the control device 40 reads out the walking speed of the user, that is, the traveling speed of the walking support robot 3 from the RAM. Then, the control device 40 adds the time information acquired from the timer to the walking speed information including the walking speed of the user, associates the walking speed information with the user ID for identifying the user, stores the walking speed information in the EEPROM in time series, ends the sub-process, and proceeds to the sub-process of the "second information acquisition process" of step S45.

As shown in fig. 38, in the sub-process of the "second travel control process", in step S134, the control device 40 stops the driving of the left and right electric motors 33L and 33R to stop the left and right driving wheels 32L and 32R (left and right rear wheels), and then ends the sub-process, and proceeds to the sub-process of the "second information acquisition process" of step S45.

[ second information acquisition processing ]

Next, a sub-process of the "second information acquisition process" of the above-described step S45 will be described with reference to fig. 39. As shown in fig. 39, the control device 40 first executes the processing of steps S255 to S256 in the sub-processing of the above-described "information acquisition processing" (see fig. 18) executed by the control device 80 of the smartphone 5 according to the first embodiment.

When it is determined that the music information acquisition flag read from the RAM is set to on (no in S255), the control device 40 ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S46. If it is determined that the training flag read from the RAM is set to off (no in S256), the control device 40 ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S46.

On the other hand, if it is determined that the music information acquisition flag read from the RAM is set to off and the training flag read from the RAM is set to on (yes in S255 and yes in S256), the control device 40 proceeds to the process of step S641. In step S641, the control device 40 reads out the second swing arm flag from the RAM, and determines whether or not the second swing arm flag is set to on. If it is determined that the second swing arm flag is set to off (no in S641), the control device 40 determines that the walking training in the swing arm training mode is not performed, ends the sub-process, and proceeds to the sub-process of the "music selection process" in step S46.

On the other hand, if it is determined that the second swing arm flag is set to on (yes in S641), the control device 40 proceeds to the process of step S642. In step S642, the control device 40 transmits the identification ID for identifying the walking support robot 102, the user ID of the user, the music information request command, and the swing arm speed specification value request command to the server 9 via the communication device 37, and then proceeds to the process of step S643.

Here, the music information request instruction is an instruction to request transmission of music information made up of a plurality of (for example, five) pieces of music information that can be output (played) via the speaker 105 at the time of walking training in the arm swing training mode. The swing arm speed predetermined value request command is a command for requesting a swing arm speed predetermined value (reference predetermined speed) that is a reference of the user during the walking training in the swing arm training mode.

In step S643, the control device 40 waits for the reception of communication data including an identification ID for identifying the walking support robot 102, a user ID, music information including a plurality of (for example, five) music pieces of information, and a predetermined arm swing speed value (reference predetermined speed) from the server 9 via the communication device 37 (no in S643). When the communication data including the identification ID for identifying the walking support robot 102, the user ID, the music information including a plurality of (e.g., five) music pieces of information, and the swing arm speed predetermined value (reference predetermined speed) is received from the server 9 via the communication device 37 (yes in S643), the control device 40 proceeds to the process of step S644.

In step S644, the control device 40 associates the music information and the swing arm speed predetermined value (reference predetermined speed) composed of a plurality of (for example, five) pieces of music information received from the server 9 via the communication device 37 with the user ID and stores them in the EEPROM. Next, the control device 40 executes the processing of step S261 to step S263 in the sub-processing of the above-described "information acquisition processing" (see fig. 18) executed by the control device 80 of the smartphone 5 according to the first embodiment, and then ends the sub-processing, and proceeds to the sub-processing of the above-described "music selection processing" of step S46.

[ music selection processing ]

Next, in step S46, the control device 40 executes the sub-process of the "music selection process" executed by the control device 80 of the smartphone 5 of the first embodiment (see fig. 20), and thereafter, the process proceeds to the sub-process of the "third music playback process" in step S47. Specifically, when it is determined that the song title selection button 90GA (see fig. 33) on the operation panel screen 90 of the display 104 displayed on the display device 103 has not been pressed by the finger 89 (no in S265), the control device 40 ends the sub-process, and proceeds to the sub-process of the "third music playback process" in the above-described step S47.

In step S267, the control device 40 resets music information of a song name included in the song name display field 90GB (see fig. 33) on the uppermost side among the song name display fields 90GB of the music selection portion 90G displayed on the display 104 of the display device 103 to the reproduced music outputted (reproduced) via the speaker 105 (see fig. 33) during the step training in the swing arm training mode, stores the music information in the EEPROM, and then ends the sub-processing, and the process proceeds to the sub-processing of the "third music reproduction processing" in step S47.

[ third music Play processing ]

Next, the sub-process of the "third music playback process" in step S47 will be described with reference to fig. 40 and 41. As shown in fig. 40, the control device 40 first executes the process of step S272 in the sub-process of the "music playing process" (see fig. 21) executed by the control device 80 of the smartphone 5 according to the first embodiment, and then proceeds to the process of step S651.

In step S651, the control device 40 reads out the second swing arm flag from the RAM, and determines whether or not the second swing arm flag is set to on. If it is determined that the second swing arm flag is set to off (S651: no), the control device 40 determines that the walking training in the swing arm training mode is not performed, ends the sub-process, and ends the second-step line training support process.

On the other hand, when determining that the second swing arm flag is set to on (S651: yes), the control device 40 executes the processing of steps S274 to S282 in the sub-processing of the "music playback processing" (see fig. 21) executed by the control device 80 of the smartphone 5 of the first embodiment, and then proceeds to the processing of step S652. In step S278, control device 40 executes the sub-processing of "volume down processing" shown in fig. 23 (step S311 to step S314), and thereafter proceeds to the processing of step S652.

In step S652, the control device 40 reads out the set volume of the played music from the RAM, outputs (plays) the played music via the speaker 105 at the set volume, and thereafter executes the processing of step S284 in the sub-processing (see fig. 22) of the above-described "music playing processing".

Here, an example of output (playback) of the playback music (S277 to S652) performed by the control device 40 when the average swing arm speed of the user is smaller than the predetermined swing arm speed value (reference predetermined speed), in other words, when the average swing arm speed of the user is slower than the predetermined swing arm speed value (reference predetermined speed) (S277: no) will be described with reference to fig. 25. As shown in fig. 25, until the elapsed time from time T12 when the average swing arm speed of the user is slower than the predetermined swing arm speed value (reference predetermined speed) and time T16 reach a predetermined time T1 (for example, 5 seconds), the control device 40 outputs (plays) music through the speaker 105 at a set volume set at the volume predetermined value (reference volume). In addition, a volume predetermined value (reference volume) is associated with a user ID in advance and stored in an EEPROM.

Thereafter, the control device 40 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 105. Thus, the user can recognize that the swing arm average speed is slower than the swing arm speed predetermined value (reference predetermined speed) from the decrease in the volume of the played music. As a result, the user can continue the swing arm walking training using the walking support robot 102 by attempting to perform swing arm walking again with the swing arm average speed equal to or higher than the predetermined swing arm speed (reference predetermined speed), in other words, by attempting to increase the swing arm speed further, which is an interest in the swing arm walking training.

Further, since the average swing arm speed of the user becomes equal to or higher than the predetermined swing arm speed (reference predetermined speed) until the elapsed time from the time T14 when the average swing arm speed of the user is slower than the predetermined swing arm speed value (reference predetermined speed) reaches the predetermined time T1, the control device 40 outputs (plays) the music through the speaker 105 without lowering the volume of the played music from the set volume of the volume predetermined value (reference volume) set at the time T14. Thus, the user can stably perform arm swing walking training while listening to the music.

Further, after the swing arm average speed of the user becomes equal to or higher than the swing arm speed predetermined value (reference predetermined speed) at time T17, the control device 40 outputs (plays) the playback music via the speaker 105 at the set volume set at time T18 until the elapsed time from time T18 when a short time has elapsed (e.g., after one second has elapsed) to time T18 when the swing arm speed predetermined value (reference predetermined speed) is slower reaches predetermined time T1 (e.g., 5 seconds). Thereafter, the control device 40 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 82. Thus, the user can listen to the music played with the volume gradually decreasing and end the swing arm walking training.

Next, an example of outputting (playing) of the playing music (S280 to S652) performed by the control device 40 when the average swing arm speed of the user is equal to or higher than a predetermined swing arm speed value (reference predetermined speed) (S277: yes) will be described with reference to fig. 25. As shown in fig. 25, when the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed (reference predetermined speed) at times T11, T13, T15, and T17 from when the average swing arm speed becomes equal to or higher than the predetermined swing arm speed (reference predetermined speed), the control device 40 increases the set volume of the played music by Δ V1 level and outputs (plays) the music via the speaker 105.

When the set volume of the reproduced music reaches the volume predetermined value (reference volume), the control device 40 sets the set volume of the reproduced music to a fixed volume of the volume predetermined value (reference volume) even if the average swing arm speed is equal to or higher than the swing arm speed predetermined value (reference predetermined speed). Thus, the user can easily recognize that the user uses the walking support robot 102 and performs arm swing walking at an arm swing average speed equal to or higher than the arm swing speed predetermined value (reference predetermined speed) based on the music played at the volume predetermined value (reference volume).

Further, the user can listen to music and perform swing arm walking training with a swing arm average speed equal to or higher than a predetermined swing arm speed value (reference predetermined speed), and the swing arm walking training using the walking support robot 102 can be made permanent to improve the training effect. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

Next, as shown in fig. 41, if it is determined in step S284 that the tempo flag is set to on (yes in S284), control device 40 proceeds to the process of step S285. In step S285, the control device 40 acquires a reference stride length corresponding to the age and height of the user stored in the EEPROM in advance, from a stride length map (not shown) stored in the EEPROM in advance.

Then, the control device 40 calculates a walking cycle from the reference step length and the predetermined swing arm speed value (reference predetermined speed) of the user stored in the EEPROM in step S644, stores the walking cycle in the RAM as a target walking cycle, and proceeds to the process of step S653. For example, the control device 40 may set the travel speed of the walking support robot 102 corresponding to the swing arm speed predetermined value (reference predetermined speed) as the walking speed of the user. Then, the control device 40 calculates a walking cycle by dividing the reference stride length of the user by the walking speed, and stores the walking cycle as a target walking cycle in the RAM.

In step S643, the control device 40 may receive the swing arm speed predetermined value and the target walking cycle of the user from the server 9 and store them in the EEPROM. In this case, the control device 93 of the server 9 acquires the reference stride corresponding to the age and height of the user stored in the EEPROM in advance, from a stride map (not shown) stored in the EEPROM in advance. Then, the control device 93 calculates the target walking cycle of the user from the reference stride length of the user and the swing arm speed predetermined value (reference predetermined speed).

In step S653, the control device 40 outputs (plays) periodic sounds (for example, a beat sound of a metronome with a constant period, a rhythm sound of a musical instrument, a cheering sound, etc.) set to a period equal to the target walking period via the speaker 105 (periodic stimulus information), and proceeds to the processing of step S288. Thus, the control device 40 can teach the user the walking timing for performing swing arm walking at a swing arm speed predetermined value (reference predetermined speed).

Therefore, the user can perform swing arm walking training with improved average swing arm speed by performing swing arm walking at the taught walking timing, and the walking ability can be improved. Further, the user can easily grasp the timing of the swing arm walking by performing the swing arm walking at the timing of the walking according to the teaching, and can easily perform the swing arm walking training in which the average speed of the swing arm is improved.

On the other hand, if it is determined in step S284 that the tempo flag is set to off (no in S284), the control device 40 proceeds to the process of step S654. In step S654, the control device 40 stops the output (playback) of periodic sounds (for example, a rhythm sound of a metronome of a constant period, a rhythm sound of a musical instrument, a cheering sound, etc.) (periodic stimulus information) set to a period equal to the target walking period via the speaker 105, and then proceeds to the processing of step S288.

If it is determined in step S288 that the training flag is set to on (no in S288), the control device 40 ends the sub-process and ends the second-step training support process. On the other hand, if it is determined that the training flag is set to off (yes in S288), control device 40 proceeds to the process of step S655. In step S655, the control device 40 stops the output (playback) of the periodic sounds (for example, the rhythm sounds of a metronome with a constant period, the rhythm sounds of musical instruments, the applause sounds, etc.) and the played music via the speaker 105, then executes the processes of step S290 to step S291 described above (see fig. 22), and then ends the sub-processes, and ends the second-step line training support process.

In step S290, the control device 40 executes the processes of step S321 to step S323 of the sub-process of the "training information transmission process" (see fig. 24) executed by the control device 80 of the smartphone 5 according to the first embodiment. Here, in step S323, the control device 40 reads out the swing arm information and the play music information from the RAM. Then, the control device 40 reads out the user ID from the EEPROM, generates training result information in which the user ID is added to the swing arm information and the music information, and transmits the training result information to the server 9 via the communication device 37. Thereafter, the control device 40 ends the sub-process of the "training information transmission process", returns to the sub-process of the third music playback process, and ends the second-step training support process.

Here, the communication device 37 functions as an example of a device communication device. The communication device 97 functions as an example of a server communication device. The control device 40 of the walking support robot 102 functions as an example of a walking state acquisition unit, a sensory information output unit, a sensory output adjustment unit, a device transmission unit, a device reception unit, a travel control device, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit.

The travel speed detection devices 33LE and 33RE function as an example of a travel speed detection device. The operation unit 107 of the display device 103 functions as an example of the second selection receiving unit. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit. The operation units 24L and 24R, the pressing members 25A and 25B, and the movement amount detection devices 21LS and 21RS constitute an example of a swing arm mechanism unit.

[ fourth embodiment ]

Next, a walking support system 121 according to a fourth embodiment will be described with reference to fig. 42 and 43. The same reference numerals as those of the walking support system 101 according to the third embodiment denote the same or corresponding parts as those of the walking support system 101 according to the third embodiment.

As shown in fig. 32, the walking support system 121 according to the fourth embodiment has substantially the same configuration as the walking support system 101 according to the third embodiment. However, the control device 40 of the walking support robot 102 constituting the walking support system 121 according to the fourth embodiment differs in that the operation panel screen 90 is displayed on the display 104 (see fig. 33) of the display device 103. Thereafter, the control device 40 executes a "third-step line training support process" (see fig. 42) described later at predetermined time intervals (for example, at intervals of several [ ms ]) instead of the "second-step line training support process" (see fig. 35).

[ third step of training support processing ]

The "third-step training support process" executed by the control device 40 of the walking support robot 102 will be described with reference to fig. 42 and 43. The programs shown in the flowcharts of fig. 42 and 43 are stored in advance in the EEPROM of the control device 40.

As shown in fig. 42, in step S51, the control device 40 executes the sub-process of the "mode selection process" executed in step S41 of the "second-step training support process" (see fig. 35), and then proceeds to the process of step S52. In step S52, the control device 40 executes the sub-process of "second start/stop process" executed in step S42 (see fig. 35), and thereafter proceeds to the process of step S53.

In step S53, the control device 40 executes the sub-process of the "second travel control process" (refer to fig. 35) executed in step S43 described above, and thereafter proceeds to the process of step S54. In step S54, the control device 40 executes the sub-process of the "second battery process" (refer to fig. 35) executed in step S44 described above, and thereafter proceeds to the process of step S55. In step S55, the control device 40 executes the sub-process of the "second information acquisition process" executed in the above-described step S45 (refer to fig. 35), and thereafter proceeds to the process of step S56.

In step S56, the control device 40 executes the sub-process of the "music selection process" executed in step S46 described above (refer to fig. 35), and thereafter proceeds to the process of step S57. In step S57, the control device 40 executes a sub-process of "fourth music reproduction process" (see fig. 43) instead of the sub-process of "third music reproduction process" (see fig. 35), and then ends the third-step line training support process.

[ fourth music playback processing ]

Next, a sub-process of the "fourth music playing process" of the above-described step S57 will be described based on fig. 43. As shown in fig. 43, the control device 40 first executes the processing of step S272 to step S277 in the sub-processing of the "third music playback processing" (see fig. 40 and 41) executed by the control device 40 of the walking support robot 102 according to the third embodiment. When it is determined that the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed (reference predetermined speed) (yes in S277), the control device 40 executes the process of step S501 (see fig. 28) of the sub-process of the "second music playback process" (see fig. 28) executed by the control device 80 of the smartphone 5 according to the second embodiment, and thereafter, the process proceeds to step S661 to be described later.

On the other hand, when it is determined in step S277 that the average swing arm speed of the user is smaller than the predetermined swing arm speed value (reference predetermined speed), in other words, that the average swing arm speed of the user is lower than the predetermined swing arm speed value (reference predetermined speed) (no in S277), the control device 40 executes the sub-process of "reproduction speed reduction process" in step S503 (see step S511 to step S513) (see fig. 29) of the sub-process of "second music reproduction process" executed by the control device 80 of the smartphone 5 of the second embodiment, and then proceeds to the process of step S661. In addition, a play deceleration amount map M1 that correlates the speed difference with the deceleration amount of the play speed shown in fig. 30 is stored in advance in the EEPROM of the control device 40.

In step S661, the control device 40 reads out the playback speed of the playback music from the RAM, and outputs (plays) the playback music via the speaker 105 at the playback speed, and thereafter proceeds to the processing of step S284. Then, the control device 40 executes the processing of step S284 to step S291 (see fig. 41) of the sub-processing of the "third music playback processing" (see fig. 40 and 41) executed by the control device 40 of the walking support robot 102 according to the third embodiment, and then ends the sub-processing and ends the fourth music output processing.

Here, an example of outputting (playing) of the playing music (S501 to S661) performed by the control device 40 when the average swing arm speed of the user is equal to or higher than the predetermined swing arm speed value (reference predetermined speed) (yes in S277) will be described with reference to fig. 31. As shown in fig. 31, the control device 40 sets the playback speed of the playback music to the playback speed predetermined value (reference playback speed) and outputs (plays) the playback music via the speaker 105 of the display device 103 while the user's average swing arm speed is equal to or greater than the swing arm speed predetermined value (reference predetermined speed) for the respective times T21 to T22, T23 to T24, and T25 to T26.

Thus, the user can easily recognize that the swing arm walking is performed at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed) using the walking support robot 102, based on the music being played at the play speed predetermined value (reference play speed). Further, the user can listen to music and perform a swing arm walking training with pleasure at a swing arm average speed equal to or higher than a predetermined swing arm speed value (reference predetermined speed), and the swing arm walking training can be made to last for a long time to improve the training effect. In addition, the user can perform arm swing walking training while listening to the broadcast music, and can expect a positive influence on the cognitive function.

In addition, an example of outputting (playing) of the playing music (S503 to S661) performed by the control device 40 when the average swing arm speed of the user is smaller than the predetermined swing arm speed (reference predetermined speed), in other words, when the average swing arm speed is lower than the predetermined swing arm speed (reference predetermined speed) (S277: no) will be described with reference to fig. 31. As shown in fig. 31, the control device 40 decelerates the playback speed of the playback music gradually from the playback speed predetermined value (reference playback speed) as the deceleration amount from the swing arm speed predetermined value (reference predetermined speed) increases during the respective times T22 to T23, T24 to T25, and T26 when the swing arm average speed of the user is slower than the swing arm speed predetermined value (reference predetermined speed), and outputs (plays) the playback music via the speaker 105 of the display device 103.

Then, the control device 40 increases the playback speed of the played music to gradually approach the predetermined playback speed value (reference playback speed) as the user's average swing arm speed increases again, and outputs (plays) the played music via the speaker 105. Thus, the user can recognize that the average speed of the swing arm decreases as the playing speed of the played music decreases. As a result, the user can continue the swing arm walking training by attempting to perform the swing arm walking again while the average swing arm speed is equal to or higher than the predetermined swing arm speed (reference predetermined speed), in other words, by attempting to increase the swing arm speed further, the user is interested in the swing arm walking training.

Here, the communication device 37 functions as an example of a device communication device. The communication device 97 functions as an example of a server communication device. The control device 40 of the walking support robot 102 functions as an example of a walking state acquisition unit, a sensory information output unit, a sensory output adjustment unit, a device transmission unit, a device reception unit, a travel control device, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit.

The travel speed detection devices 33LE and 33RE function as an example of a travel speed detection device. The operation unit 107 of the display device 103 functions as an example of the second selection receiving unit. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit. The operation units 24L and 24R, the pressing members 25A and 25B, and the movement amount detection devices 21LS and 21RS constitute an example of a swing arm mechanism unit.

The present disclosure is not limited to the first to fourth embodiments, and various improvements, modifications, additions, and deletions can be made without departing from the scope of the present disclosure. In the following description, the same reference numerals as those used for the configurations of the walking support robots 3 and 102, the smartphone 5, and the server 9 according to the first to fourth embodiments of fig. 1 to 43 described above denote the same or corresponding portions as those of the configurations of the walking support robots 3 and 102, the smartphone 5, and the server 9 according to the first to fourth embodiments described above.

[ other first embodiment ]

(A) For example, in the sub-process of the "volume reduction process" of step S278 (see fig. 23) executed by the control device 80 of the smartphone 5 according to the first embodiment and the control device 40 of the walking support robot 102 according to the third embodiment, if it is determined that the set volume at which the broadcast music is output (played) via the speakers 82 and 105 is not "0" (no in S313), the control device 80 or the control device 40 proceeds to the process of step S314.

Then, in step S314, the control device 80 or the control device 40 may read out the set volume of the reproduced music output (reproduced) via the speakers 82 and 105 from the RAM, set the set volume to "0", store the set volume in the RAM again, and then end the sub-process, and proceed to the process of step S283 or step S652 (see fig. 21 and 40).

Thus, until the elapsed time from when the average swing arm speed of the user is less than the predetermined swing arm speed value (reference predetermined speed), that is, when the average swing arm speed of the user is slower than the predetermined swing arm speed value (reference predetermined speed), reaches a predetermined time T1 (for example, 5 seconds), the music is output (played) via the speaker 82 or the speaker 105 at the set volume set to the volume predetermined value (reference volume). When the elapsed time from when the average swing arm speed of the user is less than the predetermined swing arm speed value (reference predetermined speed), that is, when the average swing arm speed of the user is slower than the predetermined swing arm speed value (reference predetermined speed), reaches a predetermined time T1 (for example, 5 seconds), the output (playback) of the playback music via the speaker 82 or the speaker 105 is stopped.

As a result, the user can recognize that the swing arm average speed is lower than the swing arm speed predetermined value (reference predetermined speed) by stopping the output (playback) of the playback music, and can continue the swing arm walking training while trying to perform the swing arm walking again at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed). Therefore, the swing arm walking training of the user can be endured, and the training effect is improved.

[ other second embodiment ]

(B) For example, in the sub-process of the "playback speed reduction process" of step S503 (see fig. 29) executed by the control device 80 of the smartphone 5 according to the second embodiment and the control device 40 of the walking support robot 102 according to the fourth embodiment, the control device 80 or the control device 40 may set the amount of reduction in the playback speed of the playback music to the "playback speed predetermined value (reference playback speed)" when the speed difference between the swing arm average speed and the swing arm speed predetermined value (reference predetermined speed) is equal to the swing arm speed predetermined value (reference predetermined speed), in other words, when the swing arm average speed of the user becomes "0" and the swing arm walking is stopped in step S512.

Then, in step S513, the control device 80 or the control device 40 may read out the playback speed at the time of outputting (playing) the played music via the speaker 82 or the speaker 105 from the RAM, set a value "0" obtained by subtracting the playback speed predetermined value (reference playback speed) from the playback speed predetermined value (reference playback speed) as the playback speed, store the playback speed in the RAM again, and then end the sub-process, and proceed to step S502 (see fig. 28) or step S661 (see fig. 43).

Thus, when the user performs the arm swing walking training, if the arm swing of the user stops and the walking support robots 3 and 102 stop, the output (playback) of the playback music through the speaker 82 or the speaker 105 is stopped. As a result, the user can recognize that the swing arm walking is stopped by stopping the output (play) of the played music, and can continue the swing arm walking training with interest in the swing arm walking training by attempting to perform the swing arm walking again at the swing arm average speed equal to or higher than the predetermined swing arm speed value (reference predetermined speed). Therefore, the swing arm walking training of the user can be endured, and the training effect is improved.

[ other third embodiment ]

(C) For example, in step S286 or step S653, the control device 80 of the smartphone 5 according to the first or second embodiment and the control device 40 of the walking support robot 102 according to the third or fourth embodiment may select a periodic sound corresponding to the broadcast music and output (broadcast) the periodic sound via the speaker 82 or 105.

[ other fourth embodiment ]

(D) For example, in the process of step S414 (see fig. 26), the control device 93 of the server 9 may select a plurality of (e.g., five) music pieces of information corresponding to the walking tempo of the user from the music information database 96A (see fig. 10), generate music information composed of the plurality of music pieces of information, store the music information in the RAM, and then proceed to the process of step S415 (see fig. 26).

Thus, the user can listen to music corresponding to the walking rhythm and perform the swing arm walking training at the same time when performing the swing arm walking training, and can attract interest in the swing arm walking training and continue the swing arm walking training. Therefore, the swing arm walking training of the user can be endured, and the training effect is improved.

[ other fifth embodiment ]

(E) For example, in the sub-process (see fig. 29) of the "playback speed reduction process" of step S503 (see fig. 28 and 43) executed by the control device 80 of the smartphone 5 according to the second embodiment and the control device 40 of the walking support robot 102 according to the fourth embodiment, the processes described below may be executed instead of the processes of step S512 and step S513.

For example, the control device 80 or the control device 40 may set the playback speed at which music is output (played) via the speaker 82 or the speaker 105 to be higher than the playback speed predetermined value (reference playback speed) based on the speed difference between the average swing arm speed calculated in step S511 and the swing arm speed predetermined value (reference predetermined speed), store the playback speed in the RAM, end the sub-process, and proceed to step S502 (see fig. 28) or step S661 (see fig. 43).

Thus, when the user performs the swing arm walking training, the user can recognize that the swing arm average speed is lower than the swing arm speed predetermined value (reference predetermined speed) when the playback speed of the playback music becomes higher than the playback speed predetermined value (reference playback speed), and can continue the swing arm walking training after attempting to perform the swing arm walking at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed). As a result, the swing arm walking training of the user can be continued, and the training effect can be improved.

[ other sixth embodiment ]

(F) For example, the control device 40 of the walking support robot 3 according to the first or second embodiment may execute the processing described later in the step S124 of the sub-processing of the "travel control processing" executed in the step S12 (see fig. 13) and the control device 40 of the walking support robot 102 according to the third or fourth embodiment may execute the processing described later in the sub-processing of the "second travel control processing" executed in the step S43 (see fig. 38).

For example, the controller 40 may determine the travel mode as "forward" when the amount of forward and backward movement from the grip reference position Mz is detected in one of the left and right grips 20L, 20R and the amount of forward and backward movement from the grip reference position Mz is not detected in the other grip. The control device 40 may drive the left and right drive wheels 32L and 32R by the left and right electric motors 33L and 33R so that the respective walking support robots 3 and 102 travel in the "forward" travel mode in accordance with the speed of the swing arm of one arm of the user, and proceed to the processing of step S125.

Thus, even when the user performs a swing arm walking exercise with one arm, if the swing arm average speed is lower than the swing arm speed predetermined value (reference predetermined speed), the volume of the reproduced music is made lower than the volume predetermined value (reference volume) or the reproduction speed of the reproduced music is made lower than the reproduction speed predetermined value (reference reproduction speed). As a result, the user can easily recognize that the swing arm average speed is lower than the swing arm speed predetermined value (reference predetermined speed), and can continue the swing arm walking training with the swing arm walking training interested by attempting to perform the swing arm walking training again at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed). As a result, the swing arm walking training of the user can be continued, and the training effect can be improved.

[ other seventh embodiment ]

(G) For example, when the average speed of the swing arm of the user is slower than a predetermined value (reference predetermined speed) of the swing arm speed when the user performs the swing arm walking training using the walking support robot 3, the control device 80 of the smartphone 5 according to the first or second embodiment may change the display color (stimulus information) of the display 81 and adjust the change speed of the display color.

In addition, when the average swing arm speed of the user is lower than a predetermined swing arm speed value (reference predetermined speed), the control device 80 may cause the display 81 to blink (stimulus information) and adjust the change speed of the blinking display. When the average swing arm speed of the user is lower than a predetermined swing arm speed value (reference predetermined speed), the control device 80 may vibrate the smartphone 5 (stimulus information) via a vibration mechanism (not shown) to adjust a change in the number of vibrations and a change in the intensity of vibrations.

Thus, the user can easily recognize that the swing arm average speed is slower than the swing arm speed predetermined value (reference predetermined speed), and can continue the walking training by attempting to perform the swing arm walking again at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed) to attract an interest in the swing arm walking training. As a result, the swing arm walking training of the user can be continued, and the training effect can be improved.

[ other eighth embodiment ]

(H) For example, the control device 40 of the walking support robot 102 according to the third or fourth embodiment may change the display color (stimulus information) of the display 104 of the display device 103 and adjust the change speed of the display color when the average speed of the swing arm of the user is slower than a predetermined swing arm speed value (reference predetermined speed) when the user performs swing arm walking training using the walking support robot 102.

In addition, when the average swing arm speed of the user is lower than a predetermined swing arm speed value (reference predetermined speed), the control device 40 may cause the display 104 of the display device 103 to blink and display (stimulus information) and adjust the change speed of the blinking display. When the average swing arm speed of the user is lower than a predetermined swing arm speed value (reference predetermined speed), the control device 40 may vibrate the display device 103 or the grips 20L and 20R (stimulus information) via a vibration mechanism (not shown) to adjust the change in the vibration frequency and the change in the vibration intensity of the vibration.

Thus, the user can easily recognize that the swing arm average speed is slower than the swing arm speed predetermined value (reference predetermined speed), and can continue the swing arm walking training with interest in the swing arm walking training by attempting to perform the swing arm walking at the swing arm average speed equal to or higher than the swing arm speed predetermined value (reference predetermined speed). As a result, the swing arm walking training of the user can be continued, and the training effect can be improved.

[ other ninth embodiment ]

< information acquisition processing >

(I) For example, the control device 80 of the smartphone 5 according to the first or second embodiment may determine whether or not walking speed information including the walking speed of the user is received from the walking support robot 3 via the communication device 87 in step S251 of the sub-process of the "information acquisition process" executed in step S23 or step S33 (see fig. 18). If it is determined that the walking speed information including the walking speed of the user is not received from the walking support robot 3 via the communication device 87 (no in S251), the control device 80 may proceed to the process of step S255.

On the other hand, when determining that the walking speed information including the walking speed of the user is received from the walking support robot 3 via the communication device 87 (yes in S251), the control device 80 may proceed to the process of step S252. In step S252, the control device 80 may store data, which is composed of walking speed information including the walking speed of the user received from the walking support robot 3 and time information acquired from a timer, in an EEPROM in time series in association with a user ID for identifying the user, and then proceed to the process of step S254. Therefore, the control device 80 may not perform the process of step S253.

The control device 80 may execute the processing of step S254 to step S257. If it is determined in step S257 that the swing arm flag is set to on (S257: yes), the control device 80 may proceed to the process of step S258. In step S258, the control device 80 may transmit an identification ID for identifying the smartphone 5, a user ID of the user, a music information request command, and a walking speed specification value request command to the server 9 via the communication device 87, and then the process proceeds to step S259.

Here, the music information request instruction is an instruction to request transmission of music information made up of a plurality of (for example, five) pieces of music information that can be output (played) via the speaker 82 at the time of swing arm walking training in the swing arm training mode. The walking speed specification value request command is a command requesting a walking speed specification value (reference specification speed) that is a reference of the user during swing arm walking training in the swing arm training mode.

In step S259, the control device 80 may wait for reception of the identification ID for identifying the smartphone 5, the user ID, the music information including a plurality of (e.g., five) music pieces of information, and the walking speed predetermined value (reference predetermined speed) from the server 9 via the communication device 87 (no in S259). Further, when receiving the identification ID for identifying the smartphone 5, the user ID, the music information including a plurality of (e.g., five) music pieces of information, and the walking tempo predetermined value (reference predetermined tempo) from the server 9 via the communication device 87 (yes in S259), the control device 80 may proceed to the process of step S260.

In step S260, the control device 80 may associate the user ID with music information and a walking speed predetermined value (reference predetermined speed) made up of a plurality of (for example, five) pieces of music information received from the server 9 via the communication device 87 and store them in the EEPROM, execute the processing of step S261 to step S263, end the sub-processing, and proceed to the sub-processing of "music selection processing" of step S24.

< music playback processing, second music playback processing >

The control device 80 of the smartphone 5 according to the first or second embodiment may be configured as follows in step S275 of the "music playback process" executed in step S25 (see fig. 21 and 22) or the "second music playback process" executed in step S35 (see fig. 28). In step S275, the control device 80 may read the walking speed of the user from the latest walking information stored in the EEPROM in association with the user ID for identifying the user in step S252. Further, the control device 80 reads out the walking speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S260 from the RAM. Next, the control device 80 determines whether or not the walking speed of the user is equal to or higher than a walking speed predetermined value (reference predetermined speed).

When it is determined that the walking speed of the user is less than the walking speed predetermined value (reference predetermined speed), in other words, slower than the walking speed predetermined value (reference predetermined speed) (S275: no), the control device 80 may end the sub-process and end the first music output process or the second music output process.

On the other hand, when the walking speed of the user is determined to be equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S275), the control device 80 may proceed to the process of step S276. Then, after executing the process of step S276, the control device 80 may proceed to the process of step S277.

In step S277, control device 80 may read the walking speed of the user from the latest walking information stored in the EEPROM in association with the user ID identifying the user in step S252. Further, the control device 80 reads the walking speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S260. Next, the control device 80 determines whether or not the walking speed of the user is equal to or higher than a walking speed predetermined value (reference predetermined speed).

Further, when determining that the walking speed of the user is smaller than the walking speed predetermined value (reference predetermined speed), in other words, slower than the walking speed predetermined value (reference predetermined speed) (no in S277), the control device 80 of the smartphone 5 according to the first embodiment may execute the processing of steps S278 to S283 and then proceed to the processing of step S284 (see fig. 21).

Here, an example of output (playback) of the playback music (S278 to S283) by the control device 80 when the walking speed of the user is less than the walking speed predetermined value (reference predetermined speed), in other words, when the walking speed of the user is slower than the walking speed predetermined value (reference predetermined speed) (S277: no) will be described with reference to fig. 44. As shown in fig. 44, the control device 80 outputs (plays) the music via the speaker 82 at a set volume set to a volume predetermined value (reference volume) until the elapsed time from time T32 when the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed) and time T36 reaches a predetermined time T1 (for example, 5 seconds), respectively. In addition, a volume predetermined value (reference volume) is associated with a user ID in advance and stored in an EEPROM.

Thereafter, the control device 80 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 82. Thus, the user can recognize that the walking speed is slower than the walking speed predetermined value (reference predetermined speed) based on the decrease in the sound volume of the played music, and can continue the swing arm walking training by attempting to walk the walking speed again at or above the walking speed predetermined value (reference predetermined speed) to interest the swing arm walking training.

Further, since the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed) until the elapsed time from the time T34 when the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed) reaches the predetermined time T1, the control device 80 outputs (plays) the music via the speaker 82 without lowering the volume of the played music from the set volume of the volume predetermined value (reference volume) set at the time T34. Thus, the user can stably perform walking training while listening to the music.

Further, after the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed) at time T37, the control device 80 outputs (plays) the playback music via the speaker 82 at the set volume set at time T38 until the elapsed time from time T38 when a short time has elapsed (e.g., after one second has elapsed) to a time T38 when the walking speed predetermined value (reference predetermined speed) is slower reaches a predetermined time T1 (e.g., 5 seconds). Thereafter, the control device 80 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 82. This enables the user to listen to the music being played with the volume gradually decreasing and to end the walking training.

On the other hand, in step S277, when the control device 80 of the smartphone 5 according to the first embodiment determines that the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277), the processes in steps S279 to S283 may be executed, and the process may proceed to step S284 (see fig. 21).

Here, an example of output (playback) of the playback music (S279 to S283) by the control device 80 when the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277) will be described with reference to fig. 44. As shown in fig. 44, when the walking speed is equal to or higher than the walking speed predetermined value (reference predetermined speed) from the time T31, T33, T35, T37 when the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed), the control device 80 increases the set volume of the reproduced music by Δ V1 levels, and outputs (reproduces) the music via the speaker 82.

When the set volume of the reproduced music reaches the volume predetermined value (reference volume), the control device 80 sets the set volume of the reproduced music to a fixed volume of the volume predetermined value (reference volume) even if the walking speed is equal to or higher than the walking speed predetermined value (reference predetermined speed). Thus, the user can easily recognize that the walking support robot 3 is walking at a walking speed equal to or higher than the walking speed predetermined value (reference predetermined speed) based on the music played back at the volume predetermined value (reference volume).

Further, the user can enjoy swing arm walking training at a walking speed equal to or higher than a reference predetermined speed while listening to music, and the swing arm walking training can be made to last to improve the training effect. Further, the user can perform swing arm walking training or hand walking training while listening to the played music, and can expect a positive influence on the cognitive function.

On the other hand, when the control device 80 of the smartphone 5 according to the second embodiment determines that the walking speed of the user is smaller than the walking speed predetermined value (reference predetermined speed), in other words, is slower than the walking speed predetermined value (reference predetermined speed) (no in S277), the processing of steps S503 to S502 is executed, and the process proceeds to step S284 (see fig. 28).

Here, an example of output (playback) of the playback music (S503 to S502) by the control device 80 when the walking speed of the user is less than the walking speed predetermined value (reference predetermined speed), in other words, when the walking speed is slower than the walking speed predetermined value (reference predetermined speed) (S277: no) will be described with reference to fig. 45. As shown in fig. 45, the control device 80 gradually decelerates the playback speed of the played music from the playback speed predetermined value (reference playback speed) as the deceleration amount from the walking speed predetermined value (reference predetermined speed) increases, and outputs (plays) the played music via the speaker 82, in each of the times T42 to T43, T44 to T45, and T46, when the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed).

Then, the controller 80 increases the playing speed of the played music to gradually approach the predetermined walking speed value (reference predetermined speed) as the walking speed of the user is increased again, and outputs (plays) the played music via the speaker 82. Thus, the user can recognize that the walking speed is reduced from the fact that the playing speed of the played music is gradually reduced, and can continue the swing arm walking training by making the user feel interested in the swing arm walking training by attempting to walk the walking speed again at or above the walking speed predetermined value (reference predetermined speed).

On the other hand, in step S277, when the control device 80 of the smartphone 5 according to the second embodiment determines that the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277), the process of step S501 to step S502 may be executed, and the process may proceed to step S284 (see fig. 28).

Here, an example of output (playback) of the playback music (S501 to S502) performed by the control device 80 when the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277) will be described with reference to fig. 45. As shown in fig. 45, the control device 80 sets the playback speed to the playback speed predetermined value (reference playback speed) and outputs (plays) the music via the speaker 82 while the user's walking speed is equal to or higher than the walking speed predetermined value (reference predetermined speed) for each of the times T41 to T42, T43 to T44, and T45 to T46.

Thus, the user can easily recognize that the walking support robot 3 is walking at a walking speed equal to or higher than the walking speed predetermined value (reference predetermined speed) by playing the music at the playing speed predetermined value (reference playing speed). Further, the user can enjoy swing arm walking training at a walking speed equal to or higher than a reference predetermined speed while listening to music, and the swing arm walking training can be made to last to improve the training effect. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

The control device 80 of the smartphone 5 according to the first or second embodiment may perform the following sub-process of the "music playback process" (see fig. 21 and 22) or the "training information transmission process" executed at step S291 described above (see fig. 24) in the sub-process of the "second music playback process" (see fig. 28).

First, in step S321, the control device 80 may calculate the average walking speed, the maximum walking speed, and the minimum walking speed of the user in the swing arm walking training of this time, based on the walking speed information stored in the EEPROM from the start button 90A (see fig. 9) being pressed to the end button 90B (see fig. 9) being pressed. For example, as shown in the upper stage of fig. 44, the control device 80 calculates the average walking speed, the maximum walking speed, and the minimum walking speed of the user from the walking speeds stored in the EEPROM at time T31 to time T38.

Then, the control device 80 may generate walking information including the average walking speed, the maximum walking speed, and the minimum walking speed of the user, store the walking information in the RAM, and then proceed to the processing of step S322. In step S322, the control device 80 may generate and store in the RAM the broadcast music information of the song names of the songs sequentially arranged from the top in the song name display fields 90GB (see fig. 9) displayed in the music selection unit 90G (see fig. 9) of the operation panel screen 90, and then proceed to the processing of step S323.

In step S323, the control device 80 may read out the walking information and the music information from the RAM. Then, the control device 80 reads out the user ID from the EEPROM, generates training result information in which the user ID is added to the walking information and the music information, transmits the training result information to the server 9 via the communication device 87, ends the sub-processing, returns to the sub-processing of the music playing processing or the second music playing processing, and ends the first music output processing or the second music output processing.

< processing of generating training information >

Next, in the "training information generation process" (see fig. 26) executed by the control device 93 of the server 9, the following may be performed. For example, in step S411, the control device 93 may determine whether or not training result information in which a user ID is added to the walking information and the music information is received via the communication device 97. If it is determined that the training result information with the user ID added to the walking information and the music information is not received (no in S411), the control device 93 may proceed to the process of step S413.

On the other hand, when it is determined that training result information in which the user ID is added to the walking information and the music information is received (yes in S411), the control device 93 may proceed to the process of step S412. In step S412, the control device 93 may extract the user ID and walking information including the average walking speed, the maximum walking speed, and the minimum walking speed of the user from the training result information. Then, the control device 93 associates the walking information with the user ID, and stores the walking information and the like in the storage device 96 (see fig. 10) in time series with time information of the walking training.

Next, the control device 93 may extract, from the training result information, the user ID and the broadcast music information in which the song names of the songs displayed in the song name display fields 90GB (see fig. 9) are arranged in order from the top field. Then, the control device 93 reads out music information corresponding to the reproduced music information from the music information database 96A (see fig. 10), associates each music information with the user ID, adds time information on which walking training has been performed, and the like, and stores the time-series music information in the user-specific music information storage unit 96B (see fig. 10) of the storage device 96, and then proceeds to the processing of step S413. In this way, a plurality of (for example, five) pieces of music information preferred by the user are stored in association with the user ID and the name of the user.

In step S413, the control device 93 may determine whether or not communication data including an identification ID for identifying the smartphone 5, a user ID of the user, a music information request command, and a walking speed specification value request command is received via the communication device 97. If it is determined that the communication data including the identification ID for identifying the smartphone 5, the user ID of the user, the music information request command, and the walking speed specification value request command has not been received by the communication device 97 (no in S413), the control device 93 ends the processing.

On the other hand, when it is determined that the communication data including the identification ID for identifying the smartphone 5, the user ID of the user, the music information request command, and the walking speed specification value request command is received via the communication device 97 (yes in S413), the control device 93 may store the identification ID for identifying the smartphone 5 and the user ID of the user in the RAM, execute the process of step S414, and then proceed to the process of step S415.

In step S415, the control device 93 may read walking information of the past month corresponding to the user ID from the storage device 96, generate a walking speed predetermined value (reference predetermined speed) based on the walking information, store the walking speed predetermined value in the RAM, and then proceed to the processing of step S416. For example, the control device 93 may read out the average walking speed of the past month corresponding to the user ID from the storage device 96 in time series, calculate the average value of these speeds, store the average value in the RAM as a walking speed predetermined value (reference predetermined speed), and then proceed to the processing of step S416.

The control device 93 may read out the latest 10m normal walking speed stored in the storage device 96 in association with the user ID, store the 10m normal walking speed in the RAM as a walking speed predetermined value (reference predetermined speed), and then proceed to the processing of step S416.

In step S416, the controller 93 may generate communication data including music information including a plurality of (e.g., five) music pieces of information generated in step S414 and a walking tempo predetermined value (reference predetermined tempo) generated in step S415. Then, the control device 93 adds the "identification ID" of the smartphone 5 received in step S413 to the communication data including the music information and the walking speed predetermined value (reference predetermined speed), transmits the communication data to the smartphone 5 via the communication device 97, and then ends the processing.

Here, the communication device 35 functions as an example of a device communication device. The communication device 87 functions as an example of a terminal communication device. The smartphone 5 functions as an example of a mobile terminal. The operation unit 85 of the smartphone 5 functions as an example of the first selection receiving unit. The communication device 97 functions as an example of a server communication device. The control device 80 of the smartphone 5 functions as an example of a walking state acquisition unit, a sensory information output unit, a sensory output adjustment unit, a terminal transmission unit, a terminal reception unit, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit. The control device 40 of the walking support robot 3 functions as an example of a travel control device. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit.

[ other tenth embodiment ]

< second information acquisition processing >

(J) For example, in the step S642 of the sub-process of the "second information acquisition process" (see fig. 39) executed in the step S45 or the step S55, the control device 40 of the walking support robot 102 according to the third or fourth embodiment may transmit an identification ID for identifying the walking support robot 102, a user ID of the user, a music information request command, and a walking speed specification value request command to the server 9 via the communication device 37, and then the process proceeds to the step S643.

Here, the music information request instruction is an instruction to request transmission of music information made up of a plurality of (for example, five) pieces of music information that can be output (played) via the speaker 105 at the time of swing arm walking training in the swing arm training mode. The walking speed specification value request command is a command requesting a walking speed specification value (reference specification speed) that is a reference of the user during swing arm walking training in the swing arm training mode.

In step S643, the control device 40 may wait for the reception of communication data including an identification ID for identifying the walking support robot 102, a user ID, music information including a plurality of (for example, five) music pieces of information, and a walking speed predetermined value (reference predetermined speed) from the server 9 via the communication device 37 (no in S643). Further, the control device 40 may proceed to the process of step S644 when receiving the identification ID for identifying the walking support robot 102, the user ID, the music information including a plurality of (e.g., five) music pieces of information, and the walking speed predetermined value (reference predetermined speed) from the server 9 via the communication device 37 (yes in S643).

In step S644, the control device 40 may associate the user ID with music information and a walking speed predetermined value (reference predetermined speed) that are received from the server 9 via the communication device 37 and are composed of a plurality of (for example, five) music pieces of information, and store the music information and the walking speed predetermined value in the EEPROM. Next, the control device 40 may execute the processing of step S261 to step S263 in the above-described "information acquisition processing" sub-processing (fig. 18) executed by the control device 80 of the smartphone 5 of the first embodiment, and then end the sub-processing, and proceed to the "music selection processing" sub-processing of step S46.

< third music playback processing, fourth music playback processing >

The control device 40 of the walking support robot 102 according to the third or fourth embodiment may be configured as follows in step S275 of the "third music reproduction process" executed in step S47 (see fig. 40 and 41) or the "fourth music reproduction process" executed in step S57 (see fig. 43).

In step S275, the control device 40 may read the walking speed of the user from the latest walking information stored in the EEPROM in association with the user ID for identifying the user in step S642. Further, the control device 40 reads out the walking speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S644 from the RAM. Next, the control device 40 determines whether or not the walking speed of the user is equal to or higher than a walking speed predetermined value (reference predetermined speed).

When it is determined that the walking speed of the user is lower than the walking speed predetermined value (reference predetermined speed), in other words, lower than the walking speed predetermined value (reference predetermined speed) (S275: no), the control device 40 may end the sub-process and end the second-step line training support process or the third-step line training support process.

On the other hand, when the walking speed of the user is determined to be equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S275), the control device 40 may proceed to the process of step S276. Then, the control device 40 may execute the process of step S276 and then proceed to the process of step S277.

In step S277, the control device 40 may read the walking speed of the user from the latest walking information stored in the EEPROM in association with the user ID for identifying the user in step S642. Further, the control device 40 reads out the walking speed predetermined value (reference predetermined speed) stored in the EEPROM in association with the user ID in step S644 from the RAM. Next, the control device 40 determines whether or not the walking speed of the user is equal to or higher than a walking speed predetermined value (reference predetermined speed).

Further, the control device 40 of the walking support robot 102 according to the third embodiment may execute the processing of step S278 to step S652 and then proceed to the processing of step S284 (see fig. 40) when determining that the walking speed of the user is smaller than the walking speed predetermined value (reference predetermined speed), in other words, slower than the walking speed predetermined value (reference predetermined speed) (S277: no).

Here, an example of output (playback) of the playback music (S278 to S652) performed by the control device 40 when the walking speed of the user is less than the walking speed predetermined value (reference predetermined speed) (no in S277) will be described with reference to fig. 44. As shown in fig. 44, until the elapsed time from time T32 when the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed) and the elapsed time from time T36 reach a predetermined time T1 (for example, 5 seconds), the control device 40 outputs (plays) the music via the speaker 105 at a set volume set to a volume predetermined value (reference volume). The volume specification value (reference volume) is stored in advance in the EEPROM in association with the user ID.

Thereafter, the control device 40 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 105. Thus, the user can recognize that the walking speed is reduced from the fact that the volume of the played music is gradually reduced, and can enjoy the swing arm walking training by attempting to walk the walking speed again at or above the walking speed predetermined value (reference predetermined speed), and can continue the swing arm walking training using the walking support robot 102.

Further, since the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed) until the elapsed time from the time T34 when the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed) reaches the predetermined time T1, the control device 40 outputs (plays) the music through the speaker 105 without lowering the volume of the played music from the set volume of the volume predetermined value (reference volume) set at the time T34. Thus, the user can stably perform walking training while listening to the music.

Further, after the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed) at time T37, the control device 40 outputs (plays) the playback music via the speaker 105 at the set volume set at time T38 until the elapsed time from the time T38 when a short time has elapsed (e.g., after one second has elapsed) when the walking speed becomes slower than the walking speed predetermined value (reference predetermined speed) reaches a predetermined time T1 (e.g., 5 seconds). Thereafter, the control device 40 lowers the set volume of the played music by Δ V2 level, and outputs (plays) it via the speaker 105. Thus, the user can listen to the music played with the volume gradually decreasing and end the swing arm walking training.

On the other hand, in step S277, the control device 40 of the walking support robot 102 according to the third embodiment may execute the processing of steps S279 to S652 and then proceed to the processing of step S284 (see fig. 40) when determining that the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277).

Here, an example of output (playback) of the playback music (S279 to S652) performed by the control device 40 when the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277) will be described with reference to fig. 44. As shown in fig. 44, when the walking speed is equal to or higher than the walking speed predetermined value (reference predetermined speed) from the time T31, T33, T35, T37 when the walking speed of the user becomes equal to or higher than the walking speed predetermined value (reference predetermined speed), the control device 40 increases the set volume of the reproduced music by Δ V1 levels, and outputs (reproduces) the music via the speaker 105.

When the set volume of the reproduced music reaches the volume predetermined value (reference volume), the control device 40 sets the set volume of the reproduced music to a fixed volume of the volume predetermined value (reference volume) even if the walking speed is equal to or higher than the walking speed predetermined value (reference predetermined speed). Thus, the user can easily recognize that the walking support robot 102 is walking at a walking speed equal to or higher than the walking speed predetermined value (reference predetermined speed) based on the music being played back at the predetermined volume value (reference volume).

Further, the user can enjoy swing arm walking training at a walking speed equal to or higher than a reference predetermined speed while listening to music, and can improve the training effect by making the swing arm walking training using the walking support robot 102 durable. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

On the other hand, the control device 40 of the walking support robot 102 according to the fourth embodiment may execute the processing of step S503 to step S661, and then proceed to the processing of step S284 (see fig. 43) when determining that the walking speed of the user is smaller than the walking speed predetermined value (reference predetermined speed), in other words, lower than the walking speed predetermined value (reference predetermined speed) (no in S277).

Here, an example of output (playback) of the playback music (S503 to S661) performed by the control device 40 when the walking speed of the user is less than the walking speed predetermined value (reference predetermined speed), in other words, when the walking speed is slower than the walking speed predetermined value (reference predetermined speed) (S277: no) will be described with reference to fig. 45. As shown in fig. 45, the control device 40 gradually decelerates (gradually slows) the playback speed of the played music from the playback speed predetermined value (reference playback speed) as the deceleration amount from the walking speed predetermined value (reference predetermined speed) increases, and outputs (plays) the played music via the speaker 105 of the display device 103, in each of the times T42 to T43, T44 to T45, and T46, at which the walking speed of the user becomes slower than the walking speed predetermined value (reference predetermined speed).

Then, the control device 40 gradually increases (gradually increases) the playback speed of the played music to be close to the predetermined playback speed value (reference playback speed) as the walking speed of the user is again increased to gradually approach the predetermined walking speed value (reference predetermined speed), and outputs (plays) the played music via the speaker 105. Thus, the user can recognize that the walking speed is slower than the walking speed predetermined value (reference predetermined speed) by gradually decelerating the playing speed of the played music, and can continue the swing arm walking training by attempting to walk at the walking speed again at or above the walking speed predetermined value (reference predetermined speed) to attract an interest in the swing arm walking training.

On the other hand, in step S277, the control device 40 of the walking support robot 102 according to the fourth embodiment may execute the processing of step S501 to step S661, and then proceed to the processing of step S284 (see fig. 43) when determining that the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277).

Here, an example of outputting (playing) of the played music (S501 to S661) performed by the control device 40 when the walking speed of the user is equal to or higher than the walking speed predetermined value (reference predetermined speed) (yes in S277) will be described with reference to fig. 45. As shown in fig. 45, the control device 40 sets the playback speed of the playback music to the playback speed predetermined value (reference playback speed) and outputs (plays) the playback music via the speaker 105 of the display device 103 while the user's walking speed is equal to or greater than the walking speed predetermined value (reference predetermined speed) for each of the times T41 to T42, T43 to T44, and T45 to T46.

Thus, the user can easily recognize that the user walks at a walking speed equal to or higher than the walking speed predetermined value (reference predetermined speed) using the walking support robot 102, based on the case where the broadcast music is broadcast at the broadcast speed predetermined value (reference broadcast speed). Further, the user can enjoy swing arm walking training at a walking speed equal to or higher than a reference predetermined speed while listening to music, and the swing arm walking training can be made to last to improve the training effect. Further, the user can perform arm swing walking training while listening to the music being played, and can expect a positive influence on the cognitive function.

The control device 40 of the walking support robot 102 according to the third or fourth embodiment may be configured as follows in the sub-process of the "third music reproduction process" (see fig. 40 and 41) or the sub-process of the "fourth music reproduction process" (see fig. 43) of the "training information transmission process" executed at step S291 described above (see fig. 24).

First, in step S321, the control device 40 may calculate the average walking speed, the maximum walking speed, and the minimum walking speed of the user in the swing arm walking training of this time, based on the walking speed information stored in the EEPROM from when the start button 90A (see fig. 33) is pressed to when the end button 90B (see fig. 33) is pressed. For example, as shown in the upper stage of fig. 44, the control device 40 calculates the average walking speed, the maximum walking speed, and the minimum walking speed of the user from the walking speeds stored in the EEPROM at time T31 to time T38.

Then, the control device 40 may generate walking information including the average walking speed, the maximum walking speed, and the minimum walking speed of the user, store the walking information in the RAM, and then proceed to the processing of step S322. In step S322, the control device 40 may generate and store in the RAM the broadcast music information of the song names of the songs sequentially arranged from the top in the song name display fields 90GB (see fig. 33) of the music selection unit 90G (see fig. 33) displayed on the operation panel screen 90, and then proceed to the processing of step S323.

In step S323, the control device 40 may read out the walking information and the music information from the RAM. Then, the control device 40 reads out the user ID from the EEPROM, generates training result information in which the user ID is added to the walking information and the music information, transmits the training result information to the server 9 via the communication device 37, ends the sub-processing, returns to the sub-processing of the third music reproduction processing or the fourth music reproduction processing, and ends the second-step training support processing or the third-step training support processing.

< processing of generating training information >

Next, in the "training information generation process" (see fig. 26) executed by the control device 93 of the server 9, the following may be performed. For example, in step S411, the control device 93 may determine whether or not training result information in which a user ID is added to the walking information and the music information is received via the communication device 97. If it is determined that the training result information with the user ID added to the walking information and the music information is not received (no in S411), the control device 93 may proceed to the process of step S413.

On the other hand, when it is determined that training result information in which the user ID is added to the walking information and the music information is received (yes in S411), the control device 93 may proceed to the process of step S412. In step S412, the control device 93 may extract the user ID and walking information including the average walking speed, the maximum walking speed, and the minimum walking speed of the user from the training result information. The control device 93 may associate the walking information with the user ID, and store the walking information in the storage device 96 in time series, such as time information obtained by performing walking training (see fig. 10).

Next, the control device 93 may extract, from the training result information, the user ID and the broadcast music information in which the song names of the songs displayed in the song name display fields 90GB (see fig. 33) are arranged in order from the top field. Then, the control device 93 reads out music information corresponding to the reproduced music information from the music information database 96A (see fig. 10), associates each music information with the user ID, adds time information on which walking training has been performed, and the like, and stores the time-series music information in the user-specific music information storage unit 96B (see fig. 10) of the storage device 96, and then proceeds to the processing of step S413. In this way, a plurality of (for example, five) pieces of music information preferred by the user are stored in association with the user ID and the name of the user.

In step S413, the control device 93 may determine whether or not communication data including an identification ID for identifying the walking support robot 102, a user ID of the user, a music information request command, and a walking speed specification value request command is received via the communication device 97. If it is determined that the communication data including the identification ID for identifying the walking support robot 102, the user ID of the user, the music information request command, and the walking speed specification value request command is not received via the communication device 97 (no in S413), the control device 93 may end the process.

On the other hand, when it is determined that the communication data including the identification ID for identifying the walking support robot 102, the user ID of the user, the music information request command, and the walking speed specification value request command is received via the communication device 97 (S413: yes), the control device 93 may store the identification ID for identifying the walking support robot 102 and the user ID of the user in the RAM, execute the process of step S414, and proceed to the process of step S415.

In step S415, the control device 93 may read walking information of the past month corresponding to the user ID from the storage device 96, generate a walking speed predetermined value (reference predetermined speed) based on the walking information, store the walking speed predetermined value in the RAM, and then proceed to the processing of step S416. For example, the control device 93 may read out the average walking speed of the past month corresponding to the user ID from the storage device 96 in time series, calculate the average value of these speeds, store the average value in the RAM as a walking speed predetermined value (reference predetermined speed), and then proceed to the processing of step S416.

The control device 93 may read out the latest 10m normal walking speed stored in the storage device 96 in association with the user ID, store the 10m normal walking speed in the RAM as a walking speed predetermined value (reference predetermined speed), and then proceed to the processing of step S416.

In step S416, the controller 93 may generate communication data including music information including a plurality of (e.g., five) music pieces of information generated in step S414 and a walking tempo predetermined value (reference predetermined tempo) generated in step S415. Then, the control device 93 adds the "identification ID" of the walking support robot 102 received in the above step S413 to the communication data including the music information and the walking speed predetermined value (reference predetermined speed), transmits the result to the walking support robot 102 via the communication device 97, and ends the processing.

Here, the communication device 37 functions as an example of a device communication device. The communication device 97 functions as an example of a server communication device. The control device 40 of the walking support robot 102 functions as an example of a walking state acquisition unit, a sensory information output unit, a sensory output adjustment unit, a device transmission unit, a device reception unit, a travel control device, a target walking cycle setting unit, a cycle stimulation information setting unit, and a walking timing teaching unit. The operation unit 107 of the display device 103 functions as an example of the second selection receiving unit. The control device 93 of the server 9 functions as an example of a server receiving unit, a reference predetermined speed setting unit, a music information selecting unit, and a server transmitting unit. The music information database (music information DB)96A functions as an example of a music information storage unit.

[ fifth embodiment ]

The first to fourth embodiments and the other first to tenth embodiments have been described above. The walking support system 141 according to the fifth embodiment will be described below with reference to fig. 46 to 51. The walking support system 141 of the fifth embodiment has the same configuration as the walking support system 1 of the first embodiment shown in fig. 1. The same reference numerals as those used in the walking support system 1 according to the first embodiment denote the same or corresponding parts as those used in the walking support system 1 according to the first embodiment.

The "periodic sound output process" executed by the control device 80 of the smartphone 5 provided in the walking support system 141 will be described with reference to fig. 46 to 51. The program shown in the flowchart of fig. 46 is stored in advance in the EEPROM of the control device 80. The periodic sound output process in the present embodiment is executed when the operation mode of the walking support robot 3 is set to the swing arm training mode and the start of walking training is detected by the control device 80 in response to the pressing of the training start button 90D.

As shown in fig. 46, when the periodic sound output process is started, in step S910, the control device 80 starts output (playback) of periodic sounds (periodic stimulus information) set to a period equal to the target walking period (for example, a beat sound of a metronome of a certain period, a rhythm sound of a musical instrument, a cheering sound, and the like). The target walking cycle is preset before the execution of the cycle tone output process and is stored in the RAM or the EEPROM. The target walking cycle may be calculated by the control device 80 based on the reference stride length of the user and the predetermined value of the swing arm speed of the user, or may be arbitrarily set by the user using the smartphone 5, as in the first embodiment.

Fig. 47 is a diagram showing a relationship between elapsed time and the beat of the periodic tone. The horizontal axis shown in fig. 47 represents the elapsed time from the start of the periodic tone output process, and the vertical axis represents the period (tempo) of the walking or periodic tone. The black dots represent the beat of the periodic tone, and the open triangles represent the walking cycle of the user. Before starting the walking of the user, the control device 80 outputs a periodic sound of a fixed beat (120 beats/minute in fig. 47) set to a period equal to the target walking period.

In the present embodiment, the control device 80 switches the output mode of the periodic sound every time the periodic sound is sounded once. In other words, the control device 80 changes the output mode of the periodic sound in accordance with the movement of the arm or leg. The output mode is, for example, a tone, a volume, a syllable, a length of sound, and a frequency, and is a tone in the present embodiment. This makes it easy for the user to determine which of the left and right arms or legs should be operated. In other embodiments, the output mode of the periodic sound may not be changed depending on the operation.

The explanation returns to fig. 46. In step S920, the control device 80 executes a synchronization pull-in process for bringing the walking cycle of the user close to the target walking cycle. After the output of the periodic tone is started, the synchronization pull-in process is executed when the start of walking of the user is detected. The control device 80 receives the detection signals from the movement amount detection devices 21LS and 21RS via the control device 40, and can determine that the user has started walking when the start of the movement of the handles 21L and 21R is detected. As described in the first embodiment, when the movement of the handles 21L and 21R is started, the control device 40 drives the left and right drive wheels 32L and 32R by the left and right electric motors 33L and 33R so that the walking support robot 3 travels in accordance with the swing arm walking of the user gripping the grips 20L and 20R.

The synchronization introduction process is explained with reference to fig. 47. First, after the user starts walking, the control device 80 stops the output of periodic sounds of a fixed tempo and outputs periodic sounds at a period longer than the target walking period. Specifically, first, the controller 80 receives the detection signals from the movement amount detectors 21LS and 21RS via the controller 40, and sounds a periodic sound at a timing a1 immediately before the positions of the grips 21L and 21R become the front side limit positions Ma and at a timing a2 immediately after the timing a 1. Then, control device 80 estimates the current walking cycle of the user, more specifically, the cycle of heel strike in the walking cycle of the user, based on the amount of movement of handles 21L, 21R.

Fig. 48 is a diagram showing a walking cycle of a person. The timing of heel strike (HC) in which the heel of a person contacts the ground or floor surface after a walking cycle is defined as a boundary, and includes a standing period in which the foot is grounded and a swing period in which the foot is separated from the ground. In the synchronization pull-in process, the control device 80 acquires (estimates) a period in which the positions of the grips 21L, 21R reach the front side limit position Ma as a period corresponding to a period of heel landing. In the present embodiment, the heel strike cycle includes both the heel strike of the right foot and the heel strike of the left foot.

As shown in fig. 47, the controller 80 estimates a timing B1 of the heel strike at this time based on the timing a1 and the interval of the timing a2 thereafter, and outputs a periodic tone at the estimated timing B1. Then, at a subsequent timing B2 and thereafter, the control device 80 gradually shortens the period of the periodic sound so that the period of the periodic sound approaches the target walking period. Thus, the intervals t1, t2, t3,. cndot.cndot.gradually approach the target walking cycle t0 as time elapses from the start of walking (t1 > t2 > t3 > t4 > t 5. cndot.cndot.cndot.cndot. 0). The period of the periodic sound is preferably changed two or more times until the period of the periodic sound is made to coincide with the target walking period. In addition, when the user's walking cycle is slower than the periodic sound while the period of the periodic sound is gradually shortened, the control device 80 may extend the period of the periodic sound again and repeat the above-described processing until the user's walking cycle reaches the target walking cycle.

As shown in fig. 46, the control device 80 executes the beat adjustment process in step S930 after the synchronization pull-in process.

Fig. 49 is an explanatory diagram of the beat adjustment processing. In fig. 49, the target walking cycle is represented by an open circle, and the actual walking cycle of the user is represented by an open triangle. The period of the output periodic tone is indicated by a black dot. In walking training, it is difficult for a user to perfectly match his or her walking cycle with a target walking cycle. Therefore, as shown by the open triangles in fig. 49, walking may be performed at a cycle that deviates from the target walking cycle. In the present embodiment, by executing the tempo adjustment processing, when the walking cycle of the user converges on the predetermined allowable range (fluctuation range), the control device 80 adjusts the cycle of the output periodic sound so as to match (coincide with) the actual walking cycle of the user within the fluctuation range, as indicated by the black dots in fig. 49. This makes it easy for the user to match the walking cycle with the target walking cycle again. In the present embodiment, the fluctuation range includes the target walking cycle, and as shown in fig. 49, the range from the target walking cycle to the lower limit is wider than the range from the target walking cycle to the upper limit. Therefore, even if the walking cycle of the user is slower than the target walking cycle, the user can easily walk at his own pace. The fluctuation range is not limited to such a range, and the range from the target walking cycle to the lower limit may be matched with the range from the target walking cycle to the upper limit. In contrast to the present embodiment, the range from the target walking cycle to the lower limit may be narrower than the range from the target walking cycle to the upper limit.

In the present embodiment, the control device 80 changes the output mode of the periodic sounds in accordance with the difference between the target walking cycle and the actual walking cycle of the user. Specifically, in the present embodiment, when the user's walking cycle is slower than the target walking cycle, periodic sounds with a low frequency are output, and when the user's walking cycle is faster than the target walking cycle, periodic sounds with a high frequency are output. This makes it easy to identify whether the walking cycle deviates from the target walking cycle or approaches the target walking cycle. Further, it is not necessary to change the output mode of the periodic sounds according to the difference between the target walking cycle and the walking cycle of the user, and for example, the user may arbitrarily set whether or not to change the output mode of the periodic sounds according to the difference between the target walking cycle and the walking cycle of the user.

The explanation returns to fig. 46. In step S940, control device 80 determines whether the walking cycle of the user is out of order. In the present embodiment, the step-out means that the walking cycle of the user is below the lower limit of the fluctuation range shown in fig. 49, i.e., longer than the longest cycle of the fluctuation range. In the case where the walking cycle of the user is out of order, control device 80 executes demodulation processing in step S950. In the case where the misalignment does not occur, the control device 80 skips the demodulation process. The control device 80 is not limited to the case where the walking cycle of the user is actually out of order, and may perform the demodulation process by estimating that the walking cycle is out of order when the walking cycle approaches the lower limit of the fluctuation range, for example. The walking cycle approaching the lower limit of the fluctuation range means, for example, that the walking cycle enters within the width of 20% of the fluctuation range from the lower limit of the fluctuation range.

Fig. 50 is an explanatory diagram of the demodulation process. The control device 80 executes substantially the same processing as the above-described synchronization pull-in processing as demodulation processing. In other words, the control device 80 gradually approaches the target walking cycle from a cycle longer than the target walking cycle. Specifically, when it is detected that the walking cycle of the user is equal to or less than the lower limit of the fluctuation range, the control device 80 sounds periodic sounds at a timing C1 immediately before and a timing C2 immediately after the positions of the handle 21L and the handle 21R become the front side limit position Ma, respectively. As shown in fig. 50, when an interval t22 from a timing C1 to a timing C2 of the ringing periodic sound is shorter than an interval t21 of the ringing periodic sound immediately before the timing C1, the control device 80 estimates a timing D1 at which the heel is grounded at this time from the interval of the timing C1 and a timing C2 thereafter, and outputs the periodic sound at the estimated timing D1. Thereafter, the control device 80 gradually shortens the period of the periodic tone so that the period of the periodic tone approaches the target walking period. Thus, the intervals t22, t23, t24 · · · · · · · · · · · · · · · · · · · · · · · · · at the beginning of the generation of the imbalance gradually approach the target walking cycle t0(t21 > t22 > t23 > t24 · · · · · · · · · · τ ≈ t · 0).

The explanation returns to fig. 46. In step S960, the control device 80 determines whether the demodulation process is successful.

Fig. 51 is an explanatory diagram showing a state in which the demodulation process fails. In the above-described demodulation process, the controller 80 sounds a periodic sound at a timing E1 at which the positions of the grips 21L and 21R become the front side limit positions Ma, and at a timing E2 thereafter. When the tempo of the timing E2 is slower than the tempo of the timing E1, that is, when the interval t32 from the timing E1 to the timing E2 is longer than the interval t31 immediately before the ringing period sound, the control device 80 rings the periodic sound again at the timing E3 at which the position of the handle 21L or the handle 21R becomes the front side limit position Ma. When the period of the periodic sound does not fall within the fluctuation range even if the periodic sound is sounded a predetermined number of times or more (three times in the present embodiment), the control device 80 determines that the demodulation process has failed, and restarts the output of the periodic sound of the target walking cycle after the timing F1. Then, as shown in fig. 46, the process returns to step S920, and the synchronization pull-in process is executed again.

If the demodulation process is successful or if no step-out is detected in step S940, the control device 80 determines whether or not the walking training based on the swing arm training mode is ended based on whether or not the end button 90B is pressed in step S970. If the walking training is not completed, the control device 80 returns the process to step S930 to repeatedly execute the tempo adjustment process and the judgment of the step shift. When the walking training is completed, in step S980, the control device 80 stops the output of the periodic sound and ends the periodic sound output process.

In the fifth embodiment described above, the cycle of the periodic sound output from the speaker 82 is adjusted in accordance with the walking cycle of the user during the walking training in the swing arm training mode. This allows the user to continue walking in accordance with the periodic tone in which the period (tempo) is adjusted in accordance with the walking period of the user. Therefore, coordinated movement of the upper and lower limbs is facilitated. As a result, the user can be interested in walking using the walking support robot, and the walking ability can be improved by sustaining the walking using the walking support robot.

In the fifth embodiment, the period of the periodic sound output from the speaker 82 at the start of walking of the user gradually approaches the target walking period from a period longer than the target walking period. This makes it possible for the user to easily grasp the timing of the swing arm and kicking, and gradually increase the pace of walking. Therefore, the user can be interested in walking using the walking support robot 3, and the walking ability can be improved by maintaining the walking using the walking support robot 3 for a long time.

In the fifth embodiment, when the period of walking of the user falls within a predetermined fluctuation range, the period of outputting periodic sounds is made to coincide with the actual walking period of the user. This enables the user to walk at his or her own pace.

In the fifth embodiment, when the walking cycle of the user is equal to or less than the lower limit of the predetermined fluctuation range, the cycle of the output periodic sounds is made closer to the predetermined target walking cycle from a cycle longer than the target walking cycle. Thus, even when the walking cycle is slow, the user can gradually increase the walking pace thereafter.

In the fifth embodiment, since the periodic sound is output according to the period of heel strike in which the heel of the user is in contact with the ground, the user can walk with good timing.

In the fifth embodiment, the example in which the periodic sound is output as the stimulus information has been described, but the stimulus information is not limited to the periodic sound, and may be an image, a color, light, vibration, or the like that is periodically emitted. If the sound includes a periodic sound, the stimulus information may be music.

In the fifth embodiment, either or both of the beat adjustment process (S930) and the processes related to the step-out and demodulation (S940 to S960) shown in fig. 46 can be omitted.

In the tempo adjustment processing in the fifth embodiment, when the cycle of walking of the user exceeds the upper limit of the fluctuation range, the control device 80 may set the cycle of the periodic sounds to the target walking cycle or to a cycle corresponding to the upper limit of the fluctuation range.

In the fifth embodiment, the periodic sound output process shown in fig. 46 is executed in the walking support system 141 having the same configuration as the walking support system 1 of the first embodiment. In contrast, the periodic sound output process may be executed in the walking support system having the same configuration as the walking support systems according to the second to fourth embodiments. Note that, instead of executing the periodic sound output process by the control device 80 provided in the smartphone 5, the periodic sound output process may be executed by the control device 40 provided in the walking support robot 3. The walking support system 141 according to the fifth embodiment does not have to have a function of connecting to the network 7. In the first embodiment, the third embodiment, and the like described above, the periodic sound output process in the fifth embodiment may be executed while adjusting the volume of music in accordance with the swing arm-related speed or walking speed of the user. In other words, the volume and tempo of music can also be adjusted simultaneously.

Here, the control device 80 of the smartphone 5 functions as an example of a walking state acquisition unit, a sensory information output unit, and a sensory output adjustment unit. The operation units 24L and 24R, the pressing members 25A and 25B, and the movement amount detection devices 21LS and 21RS constitute an example of a swing arm mechanism unit.

The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the scope of the present disclosure. For example, in order to solve a part or all of the above-described problems or to achieve a part or all of the above-described effects, technical features in embodiments corresponding to technical features in the respective embodiments described in the section of the summary of the invention may be replaced or combined as appropriate. Note that, if this technical feature is not described as an essential feature in the present specification, it can be appropriately deleted.

Claims (22)

1. A walking support system includes:

a walking support robot that supports walking for a user;

a walking state acquisition unit that acquires a walking state of the user who walks using the walking support robot;

a perception information output unit configured to output, to the user, stimulus information that can be perceived when the user walks using the walking support robot, the stimulus information including at least one of sound, light, vibration, and music; and

and a sensory output adjustment unit that adjusts output of the stimulation information by the sensory information output unit based on the walking state acquired by the walking state acquisition unit.

2. The walking support system according to claim 1,

the walking support robot has a pair of left and right swing arm mechanism units operable by the user during swing arm walking,

the walking state includes a walking speed or a swing arm-related speed, which is a speed related to a swing arm in a swing arm walking state in which the pair of swing arm mechanisms are operated to walk,

the output of the stimulus information by the perception information output part includes a volume of playing the music,

the sensing output adjustment unit includes:

a first storage unit that stores a reference predetermined speed related to the swing arm speed or the walking speed of the user in advance; and

a second storage part for storing the reference volume of the music,

the perception output adjustment unit may set the volume of the music to a volume smaller than the reference volume based on the swing arm-related speed or the walking speed of the user, when the swing arm-related speed or the walking speed of the user acquired via the walking state acquisition unit is slower than the reference predetermined speed.

3. The walking support system according to claim 2,

The sensing output adjustment unit includes:

an elapsed time measuring unit that measures an elapsed time from when the swing-arm-related speed or the walking speed of the user becomes slower than the reference predetermined speed; and

an elapsed time determination unit for determining whether or not the elapsed time measured by the elapsed time measurement unit is equal to or longer than a predetermined time,

the perception output adjusting unit sets the volume of the music when the swing arm related speed of the user is maintained or the walking speed is slower than the reference predetermined speed when the elapsed time determining unit determines that the elapsed time is less than the predetermined time, and sets the volume of the music to a volume smaller than the reference volume based on the swing arm related speed or the walking speed of the user when the elapsed time determining unit determines that the elapsed time is greater than or equal to the predetermined time.

4. The walking support system according to claim 2 or claim 3, wherein,

the sensing output adjustment unit sets the volume of the music to the reference volume when the swing arm related speed or the walking speed of the user acquired by the walking state acquisition unit is equal to or higher than the reference predetermined speed.

5. The walking support system according to any one of claims 2 to 4,

when the swing arm-related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed at the start of walking by the user using the walking support robot, the sensing output adjustment unit starts playing the music at the reference volume.

6. The walking support system according to claim 1,

the walking support robot has a pair of left and right swing arm mechanism units operable by the user during swing arm walking,

the walking state includes a walking speed or a swing arm-related speed, which is a speed related to a swing arm in a swing arm walking state in which the pair of swing arm mechanisms are operated to walk,

the output of the stimulus information by the perception information output unit includes a playback speed at which the music is played,

the sensing output adjustment unit includes:

a first storage unit that stores a reference predetermined speed related to the swing arm speed or the walking speed of the user in advance; and

a third storage part for storing the reference playing speed of the music in advance,

The perception output adjustment unit sets the music playback speed to a playback speed slower than the reference playback speed based on the swing arm related speed or the walking speed of the user, when the swing arm related speed or the walking speed of the user acquired via the walking state acquisition unit is slower than the reference predetermined speed.

7. The walking support system according to claim 6,

the perception output adjusting unit sets the playback speed of the music to the reference playback speed when the swing arm related speed or the walking speed of the user acquired by the walking state acquiring unit is equal to or higher than the reference predetermined speed.

8. The walking support system according to claim 6 or claim 7,

when the swing arm-related speed or the walking speed of the user acquired via the walking state acquisition unit is equal to or higher than the reference predetermined speed at the start of walking by the user using the walking support robot, the perception output adjustment unit starts playing the music at the reference playing speed.

9. The walking support system according to any one of claims 2 to 8,

the walking support robot comprises:

a frame;

a plurality of wheels including a driving wheel provided to the frame;

a drive device for driving the drive wheel;

a travel control device that drives and controls the drive device; and

a running speed detecting device for detecting the running speed,

the pair of right and left swing arm mechanisms includes:

a pair of left and right grips attached to respective rear end portions of a pair of left and right handles extending in the front-rear direction with respect to the frame; and

a pair of movement amount detection means for detecting the respective front-rear movement amounts of the pair of handles,

the walking state obtaining unit obtains the swing arm-related speed based on the amount of movement in the front-rear direction of each of the pair of handles detected by the pair of movement amount detection devices, or obtains the walking speed based on the running speed detected by the running speed detection device.

10. The walking support system according to any one of claims 2 to 9,

the sensing output adjustment unit includes:

a target walking cycle setting unit that sets a target walking cycle based on the reference predetermined speed;

A periodic stimulation information setting unit that sets perceivable periodic stimulation information based on the target walking cycle; and

and a walking timing teaching unit configured to output the periodic stimulation information via the sensory information output unit to teach a user timing of walking when the music is output.

11. The walking support system according to any one of claims 1 to 10,

the walking support robot includes a device communication device,

the walking support system includes a mobile terminal having a terminal communication device capable of communicating with the device communication device,

the mobile terminal includes the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit.

12. The walking support system according to any one of claims 2 to 10,

the walking support robot includes a device communication device,

the walking support system includes:

a mobile terminal having a terminal communication device capable of communicating with the device communication device; and

a server having a server communication device capable of communicating with the terminal communication device,

The mobile terminal includes the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit, and includes:

a terminal transmission unit that transmits the walking speed of the user or the swing arm-related speed in the swing arm walking state acquired by the walking state acquisition unit to the server via the terminal communication device; and

a terminal receiving unit for receiving music information related to the music and the reference predetermined tempo of the user,

the server includes:

a server receiving unit that receives the walking speed of the user or the swing arm-related speed in the swing arm walking state via the server communication device;

a reference predetermined speed setting unit configured to set the reference predetermined speed of the user based on the walking speed of the user or the swing arm related speed in the swing arm walking state received by the server receiving unit;

a music information storage unit for storing a plurality of pieces of music information related to the music;

a music information selecting unit that selects music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit; and

And a server transmission unit configured to transmit the reference predetermined tempo of the user set by the reference predetermined tempo setting unit and the music information corresponding to the user selected by the music information selection unit to the mobile terminal via the server communication device.

13. The walking support system according to claim 12,

the music information selecting unit selects a predetermined number of pieces of music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit,

the server transmission unit transmits the reference predetermined speed and a predetermined number of pieces of music information corresponding to the user to the mobile terminal via the server communication device,

the mobile terminal includes:

a first music storage unit that stores a predetermined number of pieces of music information received via the terminal receiving unit; and

a first selection receiving unit for receiving a selection of one piece of music information from a predetermined number of pieces of music information stored in the first music storage unit,

the perceptual information output unit outputs the music information selected by the first selection receiving unit.

14. The walking support system according to any one of claims 11 to 13,

The walking support robot has a mounting member to which the mobile terminal is detachably mounted.

15. The walking support system according to any one of claims 2 to 10,

the walking support robot includes a device communication device,

the walking support system includes a server having a server communication device capable of communicating with the device communication device,

the walking support robot includes the walking state acquisition unit, the sensing information output unit, and the sensing output adjustment unit, and includes:

a device transmitting unit that transmits the walking speed of the user or the swing arm-related speed in the swing arm walking state acquired by the walking state acquiring unit to the server via the device communication device; and

a device receiving unit that receives music information related to the music and the reference predetermined speed related to the user,

the server includes:

a server receiving unit that receives the walking speed of the user or the swing arm-related speed in the swing arm walking state via the server communication device;

A reference predetermined speed setting unit configured to set the reference predetermined speed of the user based on the walking speed of the user or the swing arm related speed in the swing arm walking state received by the server receiving unit;

a music information storage unit for storing a plurality of pieces of music information related to the music;

a music information selecting unit that selects music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit; and

and a server transmission unit that transmits the reference predetermined speed of the user set by the reference predetermined speed setting unit and the music information corresponding to the user selected by the music information selection unit to the walking support robot via the server communication device.

16. The walking support system according to claim 15,

the music information selecting unit selects a predetermined number of pieces of music information corresponding to the user from the plurality of pieces of music information stored in the music information storage unit,

the server transmission unit transmits the reference predetermined speed and a predetermined number of pieces of the music information corresponding to the user to the walking support robot via the server communication device,

The walking support robot comprises:

a second music storage unit for storing a predetermined number of pieces of the music information received by the device receiving unit; and

a second selection receiving unit for receiving a selection of one piece of music information from a predetermined number of pieces of music information stored in the second music storage unit,

the perceptual information output unit outputs the music information selected by the second selection receiving unit.

17. The walking support system according to any one of claims 1 to 5,

the sensing information output unit periodically outputs the stimulation information,

when the user starts walking, the sensation output adjustment unit gradually makes the period of outputting the stimulation information approach the target walking period from a period longer than a predetermined target walking period.

18. The walking support system of claim 17,

the walking support robot has a pair of left and right swing arm mechanism units operable by the user during swing arm walking,

the walking state includes a cycle of walking in a swing arm walking state in which the pair of swing arm mechanisms are operated to walk,

when the period of walking of the user acquired by the walking state acquisition unit is within a predetermined range including the target walking period, the sensory output adjustment unit may match the period of outputting the stimulation information with the period of walking of the user.

19. The walking support system of claim 18,

when the walking state of the user acquired by the walking state acquisition unit has a longer period than the longest period of the range, the sensation output adjustment unit gradually approximates the period for outputting the stimulation information to the target walking period from a period longer than the target walking period.

20. The walking support system according to claim 18 or claim 19,

the walking state acquisition unit acquires, as the walking cycle, a cycle corresponding to a cycle in which the heel of the user touches the ground.

21. The walking support system according to any one of claims 17 to 20,

the perception information output unit switches an output mode of the stimulation information every time the stimulation information is output.

22. The walking support system according to any one of claims 17 to 21, wherein,

the sensory information output unit changes the output mode of the stimulation information according to the difference between the target walking cycle and the walking cycle of the user acquired by the walking state acquisition unit.

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