JP2001276155A - Caster walker - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a caster walker in which a load measurement of foot behavior measurement can be performed to recognize the present situation of walking, and a walking exercise can be performed while confirming the degree of recovery of the legs. SOLUTION: This caster walker helps a walker to walk by supporting the body of the walker. This walking frame comprises a hand load measuring device 6 for measuring the load applied from the hand of the walker, foot load measuring devices 7 installed to the feet 20 and 21 of the walker to measure the body weight applied to each foot 20 or 21, and a foot behavior measuring device 8 for measuring the behaviors of the feet 20 and 21 of the walker.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walker suitable for use by elderly people, persons with physical disabilities, rehabilitation patients after surgery for legs and hips, and the like.

[0002]

2. Description of the Related Art A walker is used as an assistive device when an elderly person, a person with a disability, or a patient after an operation on a leg or the like performs rehabilitation of walking. This walker, for example, is configured to include wheels at the lower part of a frame, and supports a pedestrian with a part of the frame to assist walking while stabilizing the body of the pedestrian.

[0003]

However, the above-mentioned conventional walker does not have, for example, a function for measuring a load during walking or a function for measuring the behavior of a foot. Since it is necessary to use a dedicated load measuring device or behavior measuring device provided separately, it is impossible to perform measurement in walking for a long time or long distance, simultaneous measurement of load measurement and behavior measurement, There was a problem that it took time.

[0004] In view of the problems of the above-mentioned conventional walker, the present invention enables load measurement and foot behavior measurement, recognizes the current state of walking, and performs walking training while confirming the degree of recovery of the legs and hips. It is an object of the present invention to provide a walker capable of performing such a walker.

[0005]

According to a first aspect of the present invention, there is provided a walker for supporting a pedestrian by supporting a pedestrian's body. Characterized in that a hand load measuring device for measuring the pressure is provided.

In this walker, since the weight supported by the walker can be measured by the hand load measuring device via the left and right hands, the current state of walking can be recognized in real time by this measurement, and the degree of recovery of the legs and hips can be determined. You can perform walking training while checking.

A walker according to a second aspect of the present invention is a walker which assists walking by supporting a pedestrian's body.
A foot load measuring device which is attached to a foot of a pedestrian and measures a weight applied to each foot is provided.

In this walker, since the weight applied to the right and left feet can be measured by the foot load measuring device, the current state of walking can be recognized in real time by this measurement.
Walking training can be performed while checking the degree of recovery of the legs and hips.

Further, the walker according to the third aspect of the present invention is characterized in that the walker for supporting walking by supporting the body of the pedestrian is provided with a foot behavior measuring device for measuring the behavior of the foot of the pedestrian. And

In this walker, since the behavior of the left and right feet of the pedestrian can be measured by the foot behavior measuring device, the current state of walking can be recognized in real time by this measurement, and walking training can be performed while confirming the degree of recovery of the feet and hips. It can be carried out.

A walker according to a fourth aspect of the present invention is a walker which assists walking by supporting a pedestrian's body.
Hand load measuring device to measure the load applied from the pedestrian's hand, foot load measuring device to be attached to the foot of the pedestrian to measure the weight applied to each foot, and foot behavior measurement to measure the behavior of the pedestrian's foot It is characterized in that at least two devices are provided among the devices.

In this walker, the weight supported by the walker via hands is measured by a hand load measuring device, and the weight on the foot is measured by a foot load measuring device according to the pedestrian who performs walking training. You can choose to measure or measure the behavior of the pedestrian's foot with the foot behavior measurement device as appropriate, so you can comprehensively recognize the current state of walking by these measurements and check the degree of recovery of your feet and hips in detail. While walking training can be performed.

In this case, the foot behavior measuring device is composed of a television camera for photographing the behavior of the foot, an image processing device for image-processing the video of the television camera, and a speed measuring device for measuring the moving speed of the walker. Can be configured.

Thus, the trajectories of the right and left feet can be measured with the passage of time.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a walker according to the present invention will be described below with reference to the drawings.

1 to 7 show an embodiment of a walker according to the present invention. As shown in FIG. 1, the walker includes an L-shaped frame 1, front wheels 2 and rear wheels 3 provided at a lower portion of the frame 1, and a handle 4 projecting upward from an upper portion of the frame 1. And an armrest 5 extending substantially horizontally from the upper part of the frame 1, and the pedestrian walks while holding the body with a walker by gripping the handle 4 and putting an elbow on the armrest 5. It has become. In addition, the front wheel 2, the rear wheel 3, the handle 4, and the armrest 5 are formed as a pair of right and left, respectively.

The walker includes a hand load measuring device 6 for measuring the load applied from the hand of the pedestrian, a foot load measuring device 7 for measuring the weight applied to the foot of the pedestrian, And a foot behavior measuring device 8 for measuring the behavior of the subject.

The hand load measuring device 6, as shown in FIG.
Left and right armrests 5 pivotally attached to the frame 1 up and down, and are disposed between the armrests 5 and the load sensor base 9 at the base side of the armrests 5, and are added to the armrests 5. And a load sensor 10 for converting the applied load into an electric signal. In the hand load measuring device 6, the time change of the weight of the pedestrian on the armrest 5 is measured by the load sensor 10, amplified by the amplifier 11, sent to the control device 12, and displayed on the display 13 as necessary. indicate.

The foot load measuring device 7 is disposed at the bottom of footwear mounted on the left and right feet, respectively, and a right foot load sensor 14 for converting a load applied to the footwear into an electric signal; And a load sensor 15. In this foot load measuring device 7, the time change of the weight applied to the right foot of the pedestrian is measured by the right foot load sensor 14, and the time change of the weight applied to the left foot is measured by the left foot load sensor 15. Then, they are connected to the amplifier 11 by wiring (not shown), converted into electric signals, sent to the control device 12, and displayed on the display 13 as necessary.

The display 13 is, as shown in FIG.
The display unit 30 includes a display unit 30, a power switch 31, a load display unit 32, a hand load switch 33, a foot load switch 34, a walking speed display unit 35, a forward and backward stride display unit 36, and a battery remaining amount display unit 37. In this display device 13, by pressing the hand load switch 33, as shown in FIG.
The load distribution on the left and right hands is displayed as a bar graph on the load display section 32, and the foot load switch 34 is pressed to thereby display the load display section 32 as shown in FIG.
, The distribution of the load on the left and right feet is displayed in a bar graph.

On the other hand, the foot behavior measuring device 8 includes a television camera 16 for photographing the behavior of the foot, an image processing device 17 for image-processing the image of the television camera 16, and a speed for measuring the moving speed and moving distance of the walker. And a measuring device 18.

The television camera 16 is fixed to the frame 1 downward, for example, as shown in FIG. 3, the walking surface 19, the pedestrian's right foot 20 and left foot 21, the right rear wheel 3a and the left rear wheel 3b, and the frame 1 Of the right wheel connecting plate 22a and the left wheel connecting plate 22b.

The image processing apparatus converts the right and left rear wheels 3a, 3b, connecting plates 22a, 22b
For things that do not change, such as right foot 20 and left foot 21,
Or load sensor 14 for right foot or load sensor 1 for left foot
5 can be easily recognized by subtracting the image.

The speed measuring device comprises a pulse generator 23
Is attached to the axle of the front wheel 2, generates a pulse signal proportional to the number of revolutions of the front wheel 2 that rotates with the movement of the walker, sends the signal to the pulse counter 24, and the pulse counter 24 is sent. The number of pulses is counted, and the result is sent to the controller 12 as the speed and the moving distance of the walker. FIG. 5 shows the connection between the units and the control configuration.

Next, the operation of the walker of this embodiment will be described. A pedestrian with difficulty in walking or during rehabilitation after surgery for the legs and hips, holds the handle 4 in his hand, leaves a part of the weight on the armrest 5, and looks at the display surface 13 while watching the display 13. Perform walking training on the above. At this time, the time change of the weight of the pedestrian on the armrest 5 is measured by the load sensor 10, converted into an electric signal by the amplifier 11, and sent to the control device 12.

The time change of the weight applied to the right foot 20 is measured by the load sensor 14 for the right foot, and the time change of the weight applied to the left foot 21 is measured by the load sensor 15 for the left foot. Is converted into an electric signal and sent to the control device 12.

On the other hand, the television camera 20 captures an image in the visual field 25 and sends the video signal to the image processing device 17 as shown in FIG. The image processing device 17 performs image processing described below on the captured image, and sends the result to the control device 12. The control device 12 sends each signal sent to the display 13 and displays the result. in this case,
If the coordinates and the like are calibrated in advance, it is possible to easily know which point on the walking surface 19 on the image corresponds to which position when viewed from the television camera 16. Thus, the position of the moving object on the image can always be grasped as position coordinates from the camera.

On the other hand, while walking, the position of the television camera 16 with respect to the walking surface 19, that is, the position of the walker constantly moves, but this movement amount is obtained by averaging the number of pulses output from the left and right pulse generators 23 in the pulse counter 24. It can be obtained by: From these, it is possible to calculate which trajectory the right foot 20, the left foot 21, or the right foot load sensor 14 and the left foot load sensor 15 follow over time, and an example of the calculation result is shown in FIG. Show.

The horizontal axis of FIG. 6 represents the floor position information 4 obtained by averaging the number of pulses from each of the left and right pulse generators 23 in the pulse counter 24.
4 and the position of each foot is 20a, 2
0b, 20c, while the left foot is 21a, 21b, 2
1c. At this time, 40 is the left and right foot interval, 41 is the step of the left foot, 42 is the step of the right foot, and 43 is the stride.

FIG. 7 is a graph in which the vertical axis represents the change in the position of each foot with respect to the walking surface 19 with respect to the passage of time on the horizontal axis. FIG. 5A shows an example of a walking pattern of a healthy person in which left and right steps 41 and 42 are equal, and FIG.
Is an example of a pedestrian's walking pattern in which the right foot is poor and the right foot step 42 is less than the left foot step 41.

As described above, according to the walker of the present embodiment,
In walking training using a walker, a pedestrian can train while visually observing the load on the hands and feet, and can directly check the degree of recovery of the feet and hips.
In addition, it is possible to perform training while visually checking the walking speed and the steps of the left and right feet (step lengths before and after), and it is also possible to visually check the degree of unbalance of the feet during walking. If these training data are stored in the memory of a control device (not shown), it is possible to know the comparison of each training and the change in the degree of recovery, and to easily obtain useful information on rehabilitation. Become. In addition, since the walker of the present embodiment is driven cordlessly by the battery 26 mounted thereon, long or long-distance walking training can be performed. Therefore, statistical processing of walking training can be easily performed. Data reliability can also be improved.

The embodiment of the present invention has been described above. If the rear wheels 3a and 3b are of a caster structure, curved walking is possible. The load sensor 10 of the armrest 5 is
For example, the load applied to the armrest 5 can be measured by a strain gauge or the like. However, since the weight supporting position changes depending on the length of the pedestrian's arm, it is necessary to calibrate in advance according to the pedestrian. Accuracy improves. Further, as the load sensors 14 and 15 for the left and right feet, for example, if a pressurized conductive rubber or the like is used, the load sensors 14 and 15 can be formed in a thin shape. Feeling of discomfort is reduced. In addition, the effect of using the armrest load sensor, left and right foot load sensor, behavior measurement device, etc. can be exhibited even if used alone, but by simultaneously using it, it is possible to comprehensively recognize the current state of walking, and Walking training can be performed while checking the details.

[0033]

According to the walker of the first aspect of the present invention, the weight supported by the walker can be measured by the hand load measuring device via the right and left hands. In addition, walking training can be performed while confirming the degree of recovery of the legs and hips.

According to the walker of the second aspect of the present invention, the weight applied to the right and left feet can be measured by the foot load measuring device. You can perform walking training while checking.

Further, according to the walker of the third aspect of the present invention, the behavior of the left and right feet of the pedestrian can be measured by the foot behavior measuring device. Walking training can be performed while checking the degree.

According to the walker of the fourth aspect of the present invention, the weight supported by the walker via the hand is measured by the hand load measuring device according to the pedestrian performing the walking training, Such weight can be measured by a foot load measuring device, and furthermore, the behavior of a pedestrian's foot can be measured by a foot behavior measuring device. In addition, walking training can be performed while checking the degree of recovery of the legs and hips in detail.

Further, the foot behavior measuring device is constituted by a television camera for photographing the behavior of the foot, an image processing device for image-processing the image of the television camera, and a speed measuring device for measuring the moving speed of the walker. Thus, the trajectories of the left and right feet can be measured with the passage of time.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of a walker according to the present invention.

FIG. 2 is a partially enlarged sectional view showing an armrest of the embodiment.

FIG. 3 is a diagram illustrating an example of image data in the image processing apparatus according to the embodiment.

4A and 4B show the display device of the embodiment, wherein FIG. 4A is a diagram showing a state in which a load on a hand is displayed, and FIG. 4B is a diagram showing a state in which a load on a foot is displayed.

FIG. 5 is a diagram showing connection of a control device.

FIG. 6 is a diagram illustrating a calculation example of the trajectories of left and right feet with respect to a walking surface during walking.

FIGS. 7A and 7B are graphs in which changes in the position of each foot with respect to the walking surface are plotted on the vertical axis with respect to the time elapsed on the horizontal axis, where FIG. 7A shows a walking pattern in a healthy person, and FIG. It is a figure which shows the walking pattern in a malfunctioning person.

[Explanation of symbols]

 Reference Signs List 1 frame 2 front wheel 3 rear wheel 3a right rear wheel 3b left rear wheel 4 handle 5 arm rest 6 hand load measuring device 7 foot load measuring device 8 foot behavior measuring device 9 load sensor stand 10 load sensor 11 amplifier 12 control device 13 Display 14 Load sensor for right foot 15 Load sensor for left foot 16 TV camera 17 Image processing device 18 Speed measuring device 19 Walking surface 20 Right foot 21 Left foot 22a Right wheel connecting plate 22b Left wheel connecting plate 23 Pulse generator 24 Pulse counter 25 Field of view 26 Battery

Claims (5)

[Claims] 1. A walker that supports a pedestrian's body to assist walking by providing a hand load measuring device for measuring a load applied from a pedestrian's hand. 2. A walker for assisting walking by supporting a pedestrian's body, wherein a foot load measuring device is provided which is attached to a foot of the pedestrian and measures a weight applied to each foot. Walker to do. 3. A walker for supporting walking by supporting a pedestrian's body, comprising a foot behavior measuring device for measuring the behavior of a pedestrian's foot. 4. A hand load measuring device for measuring a load applied from a pedestrian's hand in a walker for assisting walking by supporting a pedestrian's body,
A walker provided with at least two of a foot load measuring device for measuring a weight applied to each foot and a foot behavior measuring device for measuring a behavior of a pedestrian's foot. 5. The foot behavior measuring device is composed of a television camera for photographing foot behavior, an image processing device for image-processing the video of the television camera, and a speed measuring device for measuring the moving speed of the walker. 5. The method according to claim 3, wherein
The walker as described.