JP2002345907A - Walking exercising device and placing table for the same - Google Patents
Walking exercising device and placing table for the sameInfo
- Publication number
- JP2002345907A JP2002345907A JP2001155794A JP2001155794A JP2002345907A JP 2002345907 A JP2002345907 A JP 2002345907A JP 2001155794 A JP2001155794 A JP 2001155794A JP 2001155794 A JP2001155794 A JP 2001155794A JP 2002345907 A JP2002345907 A JP 2002345907A
- Authority
- JP
- Japan
- Prior art keywords
- sole
- reaction force
- heel
- presenting
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、訓練者がベッド
に仰臥状態で歩行訓練を行なうための歩行訓練装置に関
するもので、特に訓練者の歩行パターン周期における踵
接地から足尖離地のタイミングにあわせて踵から爪先方
向へ順に足底の各部分に反力を与えて、知覚−運動連鎖
の回復を促進する歩行訓練装置および歩行訓練装置用載
置台に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training device for a trainee to perform walking training while lying on a bed. Also, the present invention relates to a walking training device and a mounting table for a walking training device that apply a reaction force to each portion of the sole in order from the heel to the toe to promote recovery of the perception-motor chain.
【０００２】[0002]
【従来の技術】従来の歩行訓練装置としては、人間の肢
体位置を監視しながらそれを動かし、関節に過負荷がか
かる以前に対処でき、肢体の限界を考慮して可動範囲を
容易に設定でき、関節に無理な負荷をかけず、装置自体
にも安全性を持たせながら治療を行うものとして、例え
ば、本出願人の出願に係る特開平９−１５４９００公報
に開示された肢体駆動装置が知られている。以下、同公
報に開示された肢体駆動装置について図面を用いて説明
する。図１６において、１０１は駆動装置のアーム、１
０２は肢体、１０３はスプリント（手先位置）、１０４
は力センサ、１０５はモータ、１０６は回転角検出部、
１０７はＤ／Ａ変換器、１０８は変位演算処理部、１０
９は逆運動学計算部、１１０は目標軌道設定部、１１１
は回転角変換回路、１１２はゲイン積分器、１１３はデ
ジタル／アナログ変換器、１１４はサーボアンプ、１１
５は負荷推定部、１１６はインピーダンス定数変換部、
１１７は関節負荷計測センサである。以上の構成におい
て、駆動装置のアーム１０１において訓練パターンで肢
体１０２を駆動し、力センサ１０４においてスプリント
１０３にかかる負荷を計測し、負荷定数部１１５におい
て装置に取り付けられた肢体への負荷を常に監視し、イ
ンピーダンス定数変換部１１６において肢体への過負荷
付近によりインピーダンス定数を変更する。上記のよう
な肢体駆動装置の制御装置において、肢体に装着した装
置の動作によって肢体を動かす目的で、装置に取り付け
られた力センサ１０４または位置・角度センサのセンシ
ング情報をもとに、力制御または位置制御によって装置
の動作を制御し、肢体への過負荷設定領域に入った時点
で、肢体駆動装置の動作が持つ全自由度中のうち、ある
自由度方向のインピーダンス定数変換部１１６を、肢体
への負荷が大きくなるに応じて変更し、その自由度方向
の動作を仮想的にフリーにできるようになっている。2. Description of the Related Art As a conventional walking training device, a human limb can be moved while monitoring the position of the limb, so that it can be handled before an overload is applied to a joint, and the movable range can be easily set in consideration of the limit of the limb. For example, a limb drive device disclosed in Japanese Patent Application Laid-Open No. 9-154900, which is applied to the present applicant, is known as a device that performs treatment while applying unreasonable load to a joint and giving safety to the device itself. Have been. Hereinafter, the limb driving device disclosed in the publication will be described with reference to the drawings. In FIG. 16, reference numeral 101 denotes an arm of the driving device,
02 is a limb, 103 is a sprint (hand position), 104
Is a force sensor, 105 is a motor, 106 is a rotation angle detector,
107 is a D / A converter, 108 is a displacement operation processing unit, 10
9 is an inverse kinematics calculation unit, 110 is a target trajectory setting unit, 111
Is a rotation angle conversion circuit, 112 is a gain integrator, 113 is a digital / analog converter, 114 is a servo amplifier, 11
5 is a load estimator, 116 is an impedance constant converter,
117 is a joint load measuring sensor. In the above configuration, the limb 102 is driven in the training pattern by the arm 101 of the driving device, the load applied to the sprint 103 is measured by the force sensor 104, and the load on the limb attached to the device is constantly monitored by the load constant unit 115. Then, the impedance constant is changed by the impedance constant conversion unit 116 depending on the vicinity of overload on the limb. In the control device of the limb driving device as described above, for the purpose of moving the limb by the operation of the device attached to the limb, force control or force control based on the sensing information of the force sensor 104 or the position / angle sensor attached to the device. The operation of the device is controlled by the position control, and when entering the overload setting region for the limb, the impedance constant conversion unit 116 in the direction of a certain degree of freedom among all the degrees of freedom of the operation of the limb driving device is set to the limb. As the load on the device increases, the operation in the direction of the degree of freedom can be virtually freed.
【０００３】また、別の訓練装置としては、多種多様な
使用者の足裏の施療ツボを的確に刺激して充分なマッサ
ージ効果を上げるための足マッサージ器がある。特開平
１１−５６９６０公報にはその足マッサージ器の１例が
記載されている。図１７はこれを示すもので、以下、図
１７を用いて説明する。図１７において、２０１は足裏
刺激装置、２０２は本体、２０３は突起物、２０４は足
裏、２０５は突起物駆動手段、２０６は開口部、２０７
は足裏によって押された突起物を検知する圧力センサ、
２０８は信号線、２０９は制御回路、２１０は刺激パラ
メータを入力する刺激パラメータ入力部である。以上の
構成において、多数の突起物２０３が個別に押し下げ自
在に突設された本体２０２と、足裏によって押し下げら
れた突起物２０３を検知して足裏２０４形状を決定する
足裏形状決定手段と、足裏形状決定手段で決定された足
裏２０４形状に基づいて足裏２０４の施療ツボを決定す
る施療ツボ決定手段と、施療ツボ決定手段で決定された
施療ツボに対応する突起物２０３を作動させることによ
り足裏２０４に刺激を与える突起物駆動手段２０５とに
おいて足裏を刺激する。上記のような足裏刺激装置２０
１において、多数の突起物２０３が個別に押し下げ自在
に突設された本体と、足裏によって押し下げられた突起
物２０３を検知して足裏形状を決定する足裏形状決定手
段と、足裏形状決定手段で決定された施療ツボに対応す
る突起物２０３を作動させることにより足裏に刺激を与
える突起物駆動手段２０５とを備えているから、突起物
２０３の上から足裏を押し付けることによって多種多様
な使用者の足裏形状の施療ツボと突起物２０３による刺
激位置とを適合させることができ、いかなる足裏形状に
おいても、的確に施療ツボを刺激することができるよう
になっている。[0003] As another training device, there is a foot massage device for appropriately stimulating treatment points on the soles of various users to enhance a sufficient massage effect. Japanese Patent Application Laid-Open No. 11-56960 describes an example of the foot massager. FIG. 17 illustrates this, and will be described below with reference to FIG. 17, 201 is a sole stimulator, 202 is a main body, 203 is a projection, 204 is a sole, 205 is a projection driving means, 206 is an opening, 207
Is a pressure sensor that detects protrusions pressed by the soles,
Reference numeral 208 denotes a signal line, 209 denotes a control circuit, and 210 denotes a stimulus parameter input unit for inputting a stimulus parameter. In the above configuration, a plurality of projections 203 are individually protruded so as to be able to be pushed down, and a sole shape determining means for detecting the projections 203 pushed down by the sole to determine the sole 204 shape. Activating the treatment point determining means for determining the treatment point of the sole 204 based on the sole shape determined by the sole shape determining means, and the protrusion 203 corresponding to the treatment point determined by the treatment point determining means. Then, the sole of the foot is stimulated by the protrusion driving means 205 that stimulates the sole 204. Sole stimulation device 20 as described above
1, a body in which a number of protrusions 203 are individually protruded so as to be able to be pressed down, a sole shape determining means for detecting the protrusions 203 pressed down by the sole to determine a sole shape, and a sole shape. There is provided a projection driving means 205 for stimulating the sole of the foot by operating the projection 203 corresponding to the treatment point determined by the determination means. The treatment points of various user's sole shapes and the stimulation position by the projection 203 can be matched, and the treatment points can be accurately stimulated in any sole shape.
【０００４】[0004]
【発明が解決しようとする課題】PerfettiとPieroni(Pe
rfetti C,Pieroni A:La logica Dell'esercizio;Collan
a di Reabliliazion 1.Idelson Liviana,Padova,1992)
によれば、緊張した筋が体重負荷によって伸張されると
筋紡錘より情報発射が起こり、それがまた足関節の運動
制御の情報となり得る。足関節・足部における知覚−運
動連鎖は、このような複雑な構成により成り立ってい
る、と述べられている。しかしながら、第１の先願例の
肢体駆動装置の制御装置においては、歩行パターン周期
にあわせて訓練者の下肢を動作させることができるが、
歩行訓練を行っている訓練者の足底に反力を与えること
ができず、歩行訓練を行っている訓練者の歩行パターン
周期における踵接地から足尖離地のタイミングにあわせ
て踵から爪先方向へ順に足底へ反力を与えらず、知覚−
運動連鎖の回復を促進することが期待できなかった。ま
た、第２の先願例の足裏刺激装置においては、訓練者の
足底に反力を与えることができるが、歩行パターン周期
にあわせて訓練者の下肢を動作させることができず、歩
行訓練を行っている訓練者の歩行パターン周期における
踵接地から足尖離地のタイミングにあわせて踵から爪先
方向へ順に足底へ反力を与えらず、知覚−運動連鎖の回
復を促進することが期待できなかった。以上のように、
上記２つの先願例においては、歩行訓練を行っている訓
練者の歩行パターン周期における踵接地から足尖離地の
タイミングにあわせて踵から爪先方向へ順に足底へ反力
を与えらず、知覚−運動連鎖の回復を促進することがで
きない可能性があった。本発明は上記問題を解決するた
めになされたものであって、歩行訓練を行っている訓練
者の歩行パターン周期における踵接地から足尖離地のタ
イミングにあわせて踵から爪先方向へ順に足底の各部分
に反力を与えて、知覚−運動連鎖の回復を促進すること
ができる歩行訓練装置および歩行訓練装置用載置台を提
供することを目的とする。[Problems to be Solved by the Invention] Perfetti and Pieroni (Pe
rfetti C, Pieroni A: La logica Dell'esercizio; Collan
a di Reabliliazion 1.Idelson Liviana, Padova, 1992)
According to the publication, when a tense muscle is stretched due to weight load, information is emitted from the muscle spindle, which can also be information for controlling the movement of the ankle joint. It is stated that the perception-motor chain in the ankle / foot is constituted by such a complicated configuration. However, in the control device of the limb driving device of the first prior application, the lower limb of the trainee can be operated in accordance with the walking pattern cycle.
A reactive force cannot be applied to the sole of the trainee who is performing walking training, and the direction from the heel to the tip of the toe is adjusted in accordance with the timing of the heel contact and the removal of the foottip in the walking pattern cycle of the trainer performing walking training. Perceived-no reaction force to the sole
It could not be expected to promote the recovery of the motor chain. Further, in the sole stimulating device of the second prior application, a reaction force can be applied to the sole of the trainee, but the lower limb of the trainee cannot be moved in accordance with the walking pattern cycle, and To promote recovery of the perceptual-motor chain without applying a reaction force from the heel to the toe in order from the heel to the tip of the toe in accordance with the timing of the heel contact and the apex take-off of the trainee during the walking pattern cycle. Was not expected. As mentioned above,
In the above two prior applications, in response to the timing of heel contact and foot tip off in the walking pattern cycle of the trainee who is performing walking training, no reaction force is applied to the sole from the heel to the toe in order, Perception-motor chain recovery may not be able to be promoted. The present invention has been made in order to solve the above problems, the sole of the foot in order from the heel to the toe in accordance with the timing of the heel contact from the heel contact in the walking pattern cycle of the trainee performing gait training. It is an object of the present invention to provide a walking training device and a mounting table for the walking training device, which can apply a reaction force to each part of the walking training device to promote the recovery of the perception-motor chain.
【０００５】[0005]
【課題を解決するための手段】請求項１記載の歩行訓練
装置は、訓練者の大腿に装着して前記大腿を駆動する大
腿駆動部と、訓練者の下腿に装着して前記下腿を駆動す
る下腿駆動部と、訓練者の足関節に装着して前記足関節
を駆動する足関節駆動部と、前記大腿駆動部と前記下腿
駆動部と前記足関節駆動部とを制御する制御部を備えた
歩行訓練装置において、少なくとも２分割されてなる訓
練者の足底に反力を与える足底反力提示手段を備えたこ
とを特徴とする。請求項２記載の発明は、請求項１記載
の歩行訓練装置において、前記足底反力提示手段が、そ
れぞれ足底を前後に少なくとも２分割されてなることを
特徴とする。請求項１および２記載の歩行訓練装置によ
れば、少なくとも２分割して訓練者の足底に反力を与え
る足底反力提示手段を備えることで、足底の各部分にそ
れに見合った反力を与えることができ知覚−運動連鎖の
回復を促進することができる。請求項３記載の発明は、
請求項２記載の歩行訓練装置において、前記足底反力提
示手段が、踵付近に反力を提示する踵反力提示部と、土
踏まず付近に反力を提示するＭＩＤ ＦＯＯＴ反力提示
部と、爪先付近に反力を提示する爪先反力提示部との足
底を前後に３分割して構成されることを特徴とする。請
求項４記載の発明は、請求項２又は３記載の歩行訓練装
置において、前記足底反力提示手段が、足底を内外に少
なくとも２分割されてなる反力提示部を含むことを特徴
とする。請求項５記載の発明は、請求項１〜４のいずれ
か１項記載の歩行訓練装置において、前記足底反力提示
手段が、訓練者の歩行パターン周期における踵接地から
足尖離地のタイミングにあわせて訓練者の踵から爪先方
向へ順に前記足底の各部分に反力を与えることを特徴と
する。請求項３〜５記載の歩行訓練装置によれば、訓練
者の歩行パターン周期における踵接地から足尖離地のタ
イミングにあわせて訓練者の踵から爪先方向へ順に前記
足底の踵とＭＩＤ ＦＯＯＴと爪先に反力を与えること
で、歩行訓練時の踵とＭＩＤ ＦＯＯＴと爪先に模擬的
に床反力を与えることができる。According to a first aspect of the present invention, there is provided a walking training device which is mounted on a trainee's thigh and drives the thigh, and which is mounted on a trainee's lower leg and drives the lower leg. A leg drive unit, an ankle drive unit that is attached to a trainee's ankle joint to drive the ankle joint, and a control unit that controls the thigh drive unit, the leg drive unit, and the ankle drive unit The walking training device is characterized in that it is provided with a sole reaction force presenting means for applying a reaction force to the sole of the trainee divided into at least two parts. According to a second aspect of the present invention, in the walking training apparatus according to the first aspect, the sole reaction force presenting means is formed by dividing a sole into at least two parts before and after. According to the walking training device of the first and second aspects, by providing a sole reaction force presenting means for dividing the at least two parts and applying a reaction force to the trainee's sole, each part of the sole has a corresponding reaction force. It can give power and promote the recovery of the sensory-motor chain. The invention according to claim 3 is
3. The walking training device according to claim 2, wherein the sole reaction force presenting unit includes a heel reaction force presenting unit that presents a reaction force near the heel, and a MID FOOT reaction force presenting unit that presents a reaction force near the arch. It is characterized in that the sole of the sole and the toe reaction force presenting unit that presents a reaction force near the toe are divided into three parts in the front and rear directions. According to a fourth aspect of the present invention, in the walking training device according to the second or third aspect, the sole reaction force presenting means includes a reaction force presenting unit formed by dividing a sole into at least two parts. I do. According to a fifth aspect of the present invention, in the walking training device according to any one of the first to fourth aspects, the sole reaction force presenting unit is configured to determine a timing of a foot-to-foot landing from a heel contact in a trainee's walking pattern cycle. The reaction force is applied to each part of the sole in order from the heel of the trainee to the toe. According to the walking training device according to claims 3 to 5, the heel of the sole and the MID FOOT are sequentially arranged in the direction from the heel of the trainee to the toe in accordance with the timing from the heel contact to the tip of the foot in the trainee's walking pattern cycle. By applying a reaction force to the toe and the toe, it is possible to simulate a floor reaction force to the heel, the MID FOOT, and the toe during walking training.
【０００６】請求項６記載の発明は、請求項１〜５のい
ずれか１項記載の歩行訓練装置において、前記制御部
が、訓練者の肢体を踵接地、足底接地、立脚中期、踵離
地、足尖離地、遊脚初期および遊脚後期を繰り返す歩行
パターンで動作させるように前記大腿駆動部と前記下腿
駆動部と前記足関節駆動部と前記足底反力提示手段とを
それぞれ同期させて制御し、前記歩行パターンの踵接地
のタイミングで踵に反力を与え、前記歩行パターンの足
底接地と立脚中期のタイミングで足底全体に反力を与
え、前記歩行パターンの踵離地のタイミングで 足底の
中央部分から爪先に反力を与え、前期歩行パターンの足
尖離地のタイミングで爪先に反力を与え、遊脚初期と遊
脚後期のタイミングで足底に反力を与えないことによ
り、訓練者の歩行パターン周期における踵接地から足尖
離地のタイミングにあわせて訓練者の踵から爪先方向へ
順に前記足底の各部分に反力を与えることを特徴とす
る。請求項６記載の歩行訓練装置によれば、訓練者の歩
行パターン周期における踵接地から足尖離地のタイミン
グにあわせて訓練者の踵から爪先方向へ順に前記足底の
各部分に反力を与えることで、歩行パターンの立脚期に
同期させて足底の各部分に反力を与えることができる。
請求項７記載の発明は、請求項１〜６のいずれか１項記
載の歩行訓練装置において、前記制御部が、身長、体
重、年齢等の統計的なデータから足底に加わる反力Ｆｚ
（体重の鉛直方向力）を推定し、前記足底反力提示手段
を用いて、訓練者の歩行パターン周期における踵接地か
ら足尖離地のタイミングにあわせて訓練者の踵から爪先
方向へ順に前記足底の各部分に反力を与えることを特徴
とする。請求項７記載の歩行訓練装置によれば、前記制
御部が訓練者の身長、体重、年齢等に即した足底反力を
与えることができる。請求項８記載の発明は、請求項１
〜７のいずれか１記載の歩行訓練装置において、前記制
御部が、画像を提示する視覚提示手段、音を提示する聴
覚提示手段及び振動を提示する振動手段のいずれか１つ
以上を用いて、訓練者の歩行パターン周期における踵接
地、足底接地、立脚中期、踵離地、足尖離地、遊脚初期
および遊脚後期のタイミング、足底が接地している時間
を目的に応じて訓練者へ提示することを特徴とする。請
求項８記載の歩行訓練装置によれば、画像を提示する視
覚提示手段、音を提示する聴覚提示手段及び振動を提示
する振動手段のいずれか１つ以上を用いることで、訓練
者は自分の立位バランスを認識しつつ訓練を行うことが
できるため、立位バランスの回復を促進することができ
る。請求項９記載の歩行訓練装置の発明は、請求項１〜
８のいずれか１項記載の前記大腿駆動部と、前記下腿駆
動部と、前記足関節駆動部と、前記足底反力提示手段と
をそれぞれ２つずつ備え、両脚で同時に歩行訓練を行う
ことができることを特徴とする。請求項９記載の歩行訓
練装置によれば、両脚を用いて歩行を模擬した訓練をす
ることができる。According to a sixth aspect of the present invention, in the walking training apparatus according to any one of the first to fifth aspects, the control unit causes the limb of the trainee to touch the heel, the sole of the foot, the middle of standing, and the heel separation. The thigh drive section, the lower leg drive section, the ankle joint drive section, and the sole reaction force presenting means are synchronized with each other so as to operate in a walking pattern in which the ground, the apex separation, the swing leg initial phase and the swing phase are repeated. Control, giving a reaction force to the heel at the timing of the heel contact of the walking pattern, giving a reaction force to the sole of the foot at the time of contact with the sole of the walking pattern and the middle stage of stance, and taking off the heel of the walking pattern A reaction force is applied to the toe from the center of the sole at the timing of the toe, a reaction force is applied to the toe at the timing of the tip of the foot in the early walking pattern, and a reaction force is applied to the sole at the early stage of the free leg and the late stage of the free leg. By not giving, the trainee's walking pattern A reaction force is applied to each part of the sole in order from the heel to the toe of the trainee in accordance with the timing of the heel contact and the foot tip separation in the cycle. According to the walking training device of claim 6, a reaction force is applied to each part of the sole in order from the trainee's heel to the toe in accordance with the timing of the heel contact from the heel contact in the walking pattern cycle of the trainee. By giving, the reaction force can be given to each part of the sole in synchronization with the standing phase of the walking pattern.
According to a seventh aspect of the present invention, in the walking training apparatus according to any one of the first to sixth aspects, the control unit applies a reaction force Fz to the sole from statistical data such as height, weight, and age.
(Vertical force of body weight) is estimated, and the above-mentioned plantar reaction force presenting means is used to sequentially move from the heel to the toe of the trainee in accordance with the timing of the heel contact from the heel contact in the walk pattern cycle of the trainee. A reaction force is applied to each part of the sole. According to the walking training device of the seventh aspect, the control unit can apply a sole reaction force according to the height, weight, age, and the like of the trainee. The invention according to claim 8 is the first invention.
7. The walking training device according to any one of to 7, wherein the control unit uses at least one of a visual presentation unit that presents an image, an auditory presentation unit that presents a sound, and a vibration unit that presents vibration. Training according to the purpose of training the heel contact, sole contact, middle stance, heel takeoff, tiptoe detachment, timing of early and late swing leg, and sole contact time It is characterized by presenting to a person. According to the walking training device of the eighth aspect, by using at least one of the visual presenting means for presenting an image, the auditory presenting means for presenting a sound, and the vibration means for presenting a vibration, the trainee can use his or her own Since training can be performed while recognizing the standing balance, recovery of the standing balance can be promoted. The invention of the walking training device according to claim 9 is claim 1 to claim 1.
8. The thigh drive unit, the crus drive unit, the ankle joint drive unit, and the sole reaction force presenting unit according to any one of 8 above, each of which is provided with two, and performs walking training simultaneously with both legs. It is characterized by being able to. According to the walking training device of the ninth aspect, it is possible to perform training simulating walking using both legs.
【０００７】請求項１０記載の歩行訓練装置用足載置台
の発明は、訓練者が仰臥状態で歩行訓練を行なえる歩行
訓練装置の一部に用いられる足載置台であって、足関節
駆動部と足底反力提示手段とを備えてなることを特徴と
する。請求項１１記載の発明は、請求項１０記載の歩行
訓練装置用足載置台において、前記足底反力提示手段
が、足底板と、前記足底板を足底と直角方向へ駆動する
足底板駆動機構と、を備えていることを特徴とする。請
求項１２記載の発明は、請求項１０又は１１記載の歩行
訓練装置用足載置台において、前記足底板が足底を前後
に少なくとも２分割されてなることを特徴とする。請求
項１３記載の発明は、請求項１０〜１２のいずれか１項
記載の歩行訓練装置用足載置台において、前記足底板
が、それぞれ足底を前後に３分割し、踵付近に反力を提
示する踵反力提示部と、土踏まず付近に反力を提示する
ＭＩＤ ＦＯＯＴ反力提示部と、爪先付近に反力を提示
する爪先反力提示部で構成されることを特徴とする。請
求項１４記載の発明は、請求項１０〜１３のいずれか１
項記載の歩行訓練装置用足載置台において、前記足底板
の１つ以上が、足底を内外に少なくとも２分割されてな
ることを特徴とする。請求項１５記載の発明は、請求項
１０〜１４のいずれか１項記載の歩行訓練装置用足載置
台において、前記足底反力提示手段が、さらに前記各足
底板の表面側全体を覆う可撓性カバーを備えてなること
を特徴とする。請求項１６記載の発明は、請求項１５項
記載の歩行訓練装置用足載置台において、前記可撓性カ
バーがゴム板であることを特徴とする。請求項１０〜１
６記載の足載置台によれば、請求項１〜９記載の歩行訓
練装置に適した足載置台を得ることができる。請求項１
７記載の発明は、請求項１１〜１６のいずれか１項記載
の歩行訓練装置用足載置台において、足底板が、足裏を
刺激するための多数の突起部を表面に備えてなることを
特徴とする。請求項１７記載の足載置台によれば、多数
の突起部が訓練者の足裏を刺激するので、歩行運動の回
復をいっそう促進することができる。According to a tenth aspect of the present invention, there is provided a foot training table for use in a walking training apparatus in which a trainee can perform a walking training in a supine position. And a sole reaction force presenting means. According to an eleventh aspect of the present invention, in the foot placement table for a walking training apparatus according to the tenth aspect, the sole reaction force presenting means drives a sole plate and the sole plate driving the sole plate in a direction perpendicular to the sole. And a mechanism. According to a twelfth aspect of the present invention, in the foot placement platform for a walking training device according to the tenth or eleventh aspect, the sole plate is formed by dividing a sole into at least two parts in front and rear. According to a thirteenth aspect of the present invention, in the foot placement platform for a walking training apparatus according to any one of the tenth to twelfth aspects, the sole plate divides a sole into three in a front and rear direction, and generates a reaction force near a heel. It is characterized by comprising a heel reaction force presenting section for presenting, a MID FOOT reaction force presenting section for presenting a reaction force near the arch, and a toe reaction force presenting section for presenting a reaction force near the toe. According to a fourteenth aspect of the present invention, in any one of the tenth to thirteenth aspects,
Item 1. The footrest for a walking training device according to Item 1, wherein at least one of the sole plates is formed by dividing the sole into at least two parts inside and outside. According to a fifteenth aspect of the present invention, in the footrest for a walking training device according to any one of the tenth to fourteenth aspects, the sole reaction force presenting means may further cover the entire front side of each sole plate. It is characterized by comprising a flexible cover. According to a sixteenth aspect of the present invention, in the footrest for a walking training device according to the fifteenth aspect, the flexible cover is a rubber plate. Claims 10-1
According to the footrest according to the sixth aspect, a footrest suitable for the walking training device according to the first to ninth aspects can be obtained. Claim 1
According to a seventh aspect of the present invention, in the foot placement table for a walking training device according to any one of the eleventh to sixteenth aspects, the sole plate is provided with a large number of protrusions for stimulating the sole on the surface. Features. According to the foot mounting table of the seventeenth aspect, since the large number of protrusions stimulate the sole of the trainee, the recovery of the walking motion can be further promoted.
【０００８】[0008]
【発明の実施の形態】この発明の第１の実施の形態にお
ける歩行訓練装置について、図１および図４、図５を用
いて説明する。図１は第１の実施の形態における歩行訓
練装置の構成を示す図、図４は足底反力提示手段の第１
実施例の構成を示す図、図５は図４の足底反力提示手段
を用いた足底反力提示方法を示す図である。図１におい
て、１は大腿を駆動する大腿駆動部、２は下腿を駆動す
る下腿駆動部、３は足関節を駆動する足関節駆動部、４
は足底反力提示手段、５は大腿駆動部１と下腿駆動部２
と足関節駆動部３および足底反力提示手段４を制御する
制御部、６は力センサ、７は訓練者の肢体、８は大腿を
装着する大腿装着部、９は下腿を装着する下腿装着部、
３０は足関節駆動部３と足底反力提示手段４とから成る
足載置台である。また、図４および図５において、１１
は足底板、１２はスライダー（足底板駆動機構）、１３
はゴム板である。この第１の実施の形態の歩行訓練装置
を使うには、訓練者の大腿に前記大腿を駆動する大腿駆
動部１を、訓練者の下腿に前記下腿を駆動する下腿駆動
部２を、訓練者の足関節に前記足関節を駆動する足関節
駆動部３をそれぞれ装着し、制御部５が、大腿駆動部１
と下腿駆動部２と足関節駆動部３を制御して訓練者の肢
体を図２で後述する歩行パターンにしたがって動作させ
ることによって、訓練者の前記大腿駆動部１と前記下腿
駆動部２と前記足関節駆動部３の歩行訓練を行うもので
あり、しかも、これと同時に制御部５が足底反力提示手
段４を制御して訓練者の歩行パターン周期に合うように
踵接地から足尖離地のタイミングにあわせて踵から爪先
方向へ順に足底の各部分に反力を与えるようにしてい
る。足底反力提示手段４は後述するように少なくとも２
箇所以上分割しておくのがよい。このようにすることに
より、訓練者の歩行パターン周期における踵接地から足
尖離地のタイミングにあわせて訓練者の踵から爪先方向
へ順に前記足底の各部分に反力を与えることが可能とな
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A walking training device according to a first embodiment of the present invention will be described with reference to FIG. 1, FIG. 4, and FIG. FIG. 1 is a diagram showing a configuration of a walking training device according to the first embodiment, and FIG. 4 is a diagram showing a first example of a sole reaction force presenting means.
FIG. 5 is a diagram showing a configuration of an embodiment, and FIG. 5 is a diagram showing a sole reaction force presenting method using the sole reaction force presenting means of FIG. In FIG. 1, 1 is a thigh drive for driving the thigh, 2 is a thigh drive for driving the lower leg, 3 is an ankle drive for driving the ankle, 4
Is a sole reaction force presenting means, 5 is a thigh drive unit 1 and a lower leg drive unit 2
And a control unit for controlling the ankle driving unit 3 and the sole reaction force presenting means 4; 6, a force sensor; 7, a trainee's limb; 8, a thigh mounting unit, which mounts a thigh; Department,
Numeral 30 denotes a foot placing table comprising the ankle driving unit 3 and the sole reaction force presenting means 4. 4 and 5, 11
Is a sole plate, 12 is a slider (a sole plate driving mechanism), 13
Is a rubber plate. In order to use the walking training device of the first embodiment, a thigh drive unit 1 that drives the thigh on the thigh of the trainee, a thigh drive unit 2 that drives the thigh on the lower leg of the trainee, The ankle joint drive unit 3 for driving the ankle joint is attached to the ankle joint of the user, and the control unit 5 controls the thigh drive unit 1
By controlling the lower leg driving unit 2 and the ankle driving unit 3 to operate the trainee's limb according to a walking pattern described later with reference to FIG. 2, the trainer's thigh driving unit 1, the lower leg driving unit 2, and the The walking training of the ankle driving unit 3 is performed, and at the same time, the control unit 5 controls the sole reaction force presenting means 4 to separate the foottip from the heel contact so as to match the trainee's walking pattern cycle. The reaction force is applied to each part of the sole in order from the heel to the toe according to the timing of the ground. The plantar reaction force presenting means 4 has at least two
It is better to divide more than the places. By doing in this way, it is possible to apply a reaction force to each part of the sole in order from the heel of the trainee to the toe in accordance with the timing of the heel contact from the heel contact in the walk pattern cycle of the trainee. Become.
【０００９】図４は第１実施例における足底反力提示手
段を示す図である。（ａ）は上面図、（ｂ）は側面図で
ある。上面図から分かるように、第１の実施例による足
底反力提示手段はその足底板１１を前後（以後、爪先側
を「前」、踵側を「後」と定義する。）に２分割されて
いる。すなわち、足底板１１が中央部で爪先側の前部と
踵側の後部とに２分割されている。また、側面図から分
かるように、各足底板１１の裏側にはスライダー１２が
取り付けられている。このスライダー１２は図８で詳述
の反力提示機構によって足底板１１を図４（ｂ）で矢印
方向Ａに移動可能とするものである。足底板１１はそれ
ぞれ互いに独立して移動可能となっている。また、ゴム
板１３が全ての足底板１１全体を覆うように設けられ、
足底板１１の角が訓練者の足裏に当たっても痛くないよ
うに保護している。そこで、制御部５からＩＯポート
（図示なし）を介してスライダー１２を駆動させること
によって足底板１１を移動させゴム板１３を介して訓練
者の足底Ｆに反力を与えるものである。すなわち、スラ
イダー１２が上下のゴム板１３をともに図で左端に移動
させている状態では訓練者の足底Ｆには反力が加えられ
ないが、図４（ｂ）のようにスライダー１２が上下のゴ
ム板１３をともに図で右端に移動させている状態では訓
練者の足底Ｆには反力が与えられることとなる。FIG. 4 shows the sole reaction force presenting means in the first embodiment. (A) is a top view and (b) is a side view. As can be seen from the top view, the sole reaction force presenting means according to the first embodiment divides the sole plate 11 into front and rear parts (hereinafter, the toe side is defined as "front" and the heel side is defined as "rear"). Have been. That is, the sole plate 11 is divided into two parts at the center, a front part on the toe side and a rear part on the heel side. As can be seen from the side view, a slider 12 is attached to the back side of each sole plate 11. The slider 12 enables the sole plate 11 to move in the direction of arrow A in FIG. 4B by a reaction force presenting mechanism described in detail in FIG. The sole plates 11 are movable independently of each other. Further, the rubber plate 13 is provided so as to cover all the sole plates 11,
Even if the corner of the sole plate 11 hits the sole of the trainee, it is protected from pain. Therefore, by driving the slider 12 from the control unit 5 via an IO port (not shown), the sole plate 11 is moved to give a reaction force to the trainee's sole F via the rubber plate 13. That is, when the slider 12 moves both the upper and lower rubber plates 13 to the left end in the figure, no reaction force is applied to the sole F of the trainee, but as shown in FIG. When the rubber plate 13 is moved to the right end in the figure, a reaction force is applied to the sole F of the trainee.
【００１０】図５は足底反力提示手段を用いた各種の足
底反力提示方法を示す図で、（ａ）は踵接地、（ｂ）は
足底接地と立脚中期、（ｃ）は踵離地と足尖離地、
（ｄ）は遊脚初期と遊脚後期を示す図である。 すなわち、（ａ）の踵接地において、上下の足底板
１２のうち下側（踵側）の足底板１２を右側に移動させ
て踵に反力を与え、上側（爪先側）の足底板１２は左側
に残して爪先側には反力を与えないようにしている。こ
のときの股関節、膝関節、足関節の関節運動は図３の
（ａ）の状態にある。これによって、図２のの踵接地
状態がシミュレートされることとなる。 次の（ｂ）の足底接地と立脚中期において、上下の
足底板１２をともに右側に移動させることにより、足底
全体に反力を与えるものである。このときの股関節、膝
関節、足関節の関節運動は図３の（ｂ）および（ｃ）の
状態にある。これによって、図２のおよびの状態が
シミュレートされることとなる。 さらに、（ｃ）の踵離地と足尖離地において、
（ｂ）の状態の上下の足底板１２のうち下側（踵側）の
足底板１２を左側に移動させて踵の反力を解除して足底
先端のみに反力を与えるものである。このときの股関
節、膝関節、足関節の関節運動は図３の（ｄ）および
（ｅ）の状態にある。これによって、図２のおよび
の状態がシミュレートされることとなる。 そして、（ｄ）の遊脚初期と遊脚後期において、
（ｃ）の状態から上の足底板１２を左側に移動させて足
底先端の反力をも解除するものである。このときの股関
節、膝関節、足関節の関節運動は図３の（ｆ）および
（ｇ）の状態にある。これによって、図２のおよび
の状態がシミュレートされることとなる。このように、
制御部が、大腿駆動部、下腿駆動部、足関節駆動部、足
底反力提示手段をそれぞれ同期して制御し、踵接地、足
底接地、立脚中期、踵離地、足尖離地、遊足初期および
遊脚後期を繰り返すことにより、訓練者の歩行パターン
周期における踵接地から足尖離地のタイミングにあわせ
て訓練者の踵から爪先方向へ順に前記足底の各部分に反
力を与えることができる。この第１の実施例によれば、
訓練者の大腿と下腿と足の３カ所の関節を歩行タイミン
グで駆動制御する歩行訓練中に、訓練者の足底にも歩行
タイミングに合わせて反力を与えるようにしたので、知
覚−運動連鎖の回復を促進することができる。FIGS. 5A and 5B show various methods for presenting the sole reaction force using the sole reaction force presenting means. FIG. 5A shows the heel contact, FIG. Heel release and foot tip release,
(D) is a figure which shows a free leg early stage and a free leg late stage. That is, in (a) heel contact, the lower (heel side) sole plate 12 of the upper and lower sole plates 12 is moved to the right to apply a reaction force to the heel, and the upper (toe side) sole plate 12 The toe is left on the left side so that no reaction force is applied. At this time, the joint movements of the hip joint, the knee joint, and the ankle joint are in the state shown in FIG. Thereby, the heel contact state of FIG. 2 is simulated. In the next step (b), the sole and the sole plate 12 are moved to the right in the middle of the contact with the sole and the middle of the standing position, thereby giving a reaction force to the entire sole. At this time, the joint motions of the hip joint, the knee joint, and the ankle joint are in the states shown in FIGS. 3B and 3C. This simulates the conditions of and in FIG. Further, in the heel takeoff and the foot tip takeoff in (c),
The lower (heel side) sole plate 12 of the upper and lower sole plates 12 in the state (b) is moved to the left to release the reaction force of the heel and apply the reaction force only to the tip of the sole. At this time, the joint movements of the hip joint, the knee joint, and the ankle joint are in the states of (d) and (e) of FIG. This simulates the conditions of and in FIG. Then, in the early stage and the late stage of (d),
The upper sole plate 12 is moved to the left from the state (c) to release the reaction force at the tip of the sole. At this time, the joint movements of the hip joint, the knee joint, and the ankle joint are in the states shown in (f) and (g) of FIG. This simulates the conditions of and in FIG. in this way,
The control unit controls the thigh drive unit, the crus drive unit, the ankle joint drive unit, and the sole reaction force presenting means in synchronization with each other, and the heel contact, the sole contact, the middle standing, the heel off, the tiptoe off, By repeating the early stage of the free swing and the second half of the free swing, the reaction force is applied to each part of the sole in order from the heel of the trainee to the toe in accordance with the timing of the foot contact separation from the heel contact in the trainee's walking pattern cycle. Can be given. According to this first embodiment,
During walking training in which the trainee's thigh, lower thigh, and foot joints are drive-controlled at the walking timing, a reaction force is also applied to the trainee's sole in accordance with the walking timing. Can promote recovery.
【００１１】次に、この発明の第１の実施形態の第２の
実施例における図６および図７に基づいて説明する。図
６は本発明に係る足底反力提示手段の第２実施例の構成
を示す図で、（ａ）は上面図、（ｂ）は側面図である。
また、図７は図６の足底反力提示手段を用いた足底反力
提示方法を示す図で、（ａ）は踵接地、（ｂ）は足底接
地と立脚中期、（ｃ）は踵離地、（ｄ）は足尖離地、
（ｅ）は遊脚初期と遊脚後期を示す図である。図６およ
び図７において、１１は足底板、１１Ａは踵反力提示
部、１１ＢはＭＩＤ ＦＯＯＴ反力提示部、１１Ｃは爪
先反力提示部、１２はスライダー、１３はゴム板であ
る。図６に示すように、足底反力提示手段４は足底板１
１とスライダー１２とゴム板１３とより構成されてお
り、足底板１１は足底を前後に３分割されており、それ
ぞれ、 踵反力提示部１１Ａと、 ＭＩＤ ＦＯＯ
Ｔ反力提示部１１Ｂと、 爪先反力提示部１１Ｃと、
から成る。スライダー１２はこれらの各足底板１１をそ
れぞれ図で左右方向に駆動するものである。ゴム板１３
はこれら足底板１１の全体を覆っている。そこで、スラ
イダー１２によって各足底板１１を図７のように駆動す
ることにより、訓練者の歩行パターン周期における踵接
地から爪先離地のタイミングにあわせて訓練者の踵から
爪先方向へ順に足底の踵とＭＩＤ ＦＯＯＴと爪先に反
力を与えるものである。Next, a description will be given of a second embodiment of the first embodiment of the present invention with reference to FIGS. FIGS. 6A and 6B are views showing the configuration of a second embodiment of the sole reaction force presenting means according to the present invention, wherein FIG. 6A is a top view and FIG. 6B is a side view.
7A and 7B are diagrams showing a sole reaction force presenting method using the sole reaction force presenting means of FIG. 6, wherein FIG. 7A shows heel contact, FIG. 7B shows sole contact and middle standing, and FIG. Heel off, (d) Foot apex,
(E) is a figure which shows a free leg early stage and a free leg late stage. 6 and 7, reference numeral 11 denotes a sole plate, 11A denotes a heel reaction force presentation unit, 11B denotes a MID FOOT reaction force presentation unit, 11C denotes a toe reaction force presentation unit, 12 denotes a slider, and 13 denotes a rubber plate. As shown in FIG. 6, the sole reaction force presenting means 4 is a sole plate 1
1, a slider 12, and a rubber plate 13, and the sole plate 11 is divided into three parts at the front and rear, and a heel reaction force presenting unit 11 A and a MID FOO are respectively provided.
T reaction force presenting section 11B, toe reaction force presenting section 11C,
Consists of The slider 12 drives each of these sole plates 11 in the left-right direction in the figure. Rubber plate 13
Covers the entire sole plate 11. Then, by driving each sole plate 11 by the slider 12 as shown in FIG. 7, the sole of the trainee is sequentially moved from the trainee's heel to the toe in accordance with the timing of the heel contact and the toe takeoff in the trainee's walking pattern cycle. It gives a reaction force to the heel, MID FOOT and toe.
【００１２】図７は訓練者の歩行パターン周期における
踵接地から爪先離地のタイミングにあわせて反力を与え
る順序を示している。まず、（ａ）の踵接地において、
踵反力提示部１１Ａにより踵に大きな反力を与える。こ
のとき爪先反力提示部１１Ｃは後退状態にあり爪先には
反力は与えない。（ｂ）の足底接地と立脚中期におい
て、踵反力提示部１１Ａ、ＭＩＤ ＦＯＯＴ反力提示部
１１Ｂ、爪先反力提示部１１Ｃにより足底全体に反力を
与える。（ｃ）の踵離地において、ＭＩＤ ＦＯＯＴ反
力提示部１１Ｂ、爪先反力提示部１１ＣによりＭＩＤ
ＦＯＯＴと爪先に反力を与える。（ｄ）の足尖離地にお
いては、爪先反力提示部１１Ｃにより爪先のみに反力を
与える。そして、（ｅ）の遊脚初期と遊脚後期におい
て、踵反力提示部１１Ａ、ＭＩＤＦＯＯＴ反力提示部１
１Ｂ、爪先反力提示部１１Ｃはすべて後退位置に退いて
おり、足底全体から反力を除去する。以上のように、制
御部５（図１）が大腿駆動部１、下腿駆動部２、足関節
駆動部３を図３（ａ）〜（ｇ）のように制御して訓練者
の肢体を図２の〜に沿うような歩行パターンで動作
させると共に、３分割された足底板１１（１１Ａ、１１
Ｂ、１１Ｃ）をそれぞれ踵接地から足尖離地のタイミン
グにあわせて左右方向に移動させるようにしているの
で、訓練者の踵、ＭＩＤ ＦＯＯＴ、爪先へ順に足底の
各部分に反力を与えることができ、実際の歩行に近いき
め細かい訓練が行える。FIG. 7 shows the order in which the reaction force is applied in accordance with the timing of the heel contact and the toe takeoff in the trainee's walking pattern cycle. First, in the heel contact of (a),
A large reaction force is applied to the heel by the heel reaction force presentation unit 11A. At this time, the toe reaction force presenting unit 11C is in the retreat state, and does not apply a reaction force to the toe. In (b), during the contact with the sole and in the middle of standing, a reaction force is applied to the entire sole by the heel reaction force presentation unit 11A, the MID FOOT reaction force presentation unit 11B, and the toe reaction force presentation unit 11C. In the heel take-off of (c), the MID FOOT reaction force presenting unit 11B and the toe reaction force presenting unit 11C perform MID
Apply reaction force to FOOT and toe. In the foot tip takeoff in (d), the toe reaction force presenting unit 11C applies a reaction force only to the toe. (E) In the early stage and the late stage of the free leg, the heel reaction force presenting unit 11A and the MIDFOOT reaction force presenting unit 1 are provided.
1B, the toe reaction force presenting section 11C has all retreated to the retracted position, and removes the reaction force from the entire sole. As described above, the control unit 5 (FIG. 1) controls the thigh drive unit 1, the lower leg drive unit 2, and the ankle joint drive unit 3 as shown in FIGS. In addition, the foot plate 11 is operated in a walking pattern along the line 2 to 3 and is divided into three parts.
B, 11C) are moved in the left-right direction in accordance with the timing of the heel contact from the heel contact to the tip of the foot, so that a reaction force is applied to each part of the sole in order to the trainee's heel, MID FOOT, and toe. Can perform detailed training close to actual walking.
【００１３】図８および図９は足底反力提示手段４に具
体的な反力を発生させる足底反力発生機構を示すもので
ある。図８はモータとカムとピストンによる足底反力発
生機構を示すものである。図８において、１１は足底
板、１３はゴム板、１４はモータ、１５はピストン、１
６はカムである。図８に示すように、ピストン１５の一
端（図で左端）はカム１６の上に摺動し、他端（図で右
端）は足載置台内の足底板１１に固定されている。ピス
トン１５は常時、カム１６側に付勢されている。そこ
で、駆動部４（図１）に備えられたＩＯポート（図示な
し。）を介してモータ１４を回転させてモータシャフト
に固定のカム１６を回転させると、このカム１６の上を
摺動するピストン１５によって、このピストン１５の他
端に固定の足底板１１を作動し、図で右方向に位置を移
動することとなり、ゴム板１３の上に足を置いている訓
練者はその足裏に反力を受けることとなる。したがっ
て、踵接地から足尖離地のタイミングにあわせて踵から
爪先方向へ順に足底の各部分に反力を与えることによ
り、実際に歩行をしているのと同じ反力を訓練者の足裏
が受けることとなる。FIGS. 8 and 9 show a sole reaction force generating mechanism for causing the sole reaction force presenting means 4 to generate a specific reaction force. FIG. 8 shows a sole reaction force generating mechanism using a motor, a cam, and a piston. 8, 11 is a sole plate, 13 is a rubber plate, 14 is a motor, 15 is a piston, 1
6 is a cam. As shown in FIG. 8, one end (the left end in the figure) of the piston 15 slides on the cam 16, and the other end (the right end in the figure) is fixed to the sole plate 11 in the footrest. The piston 15 is always urged toward the cam 16. Then, when the motor 14 is rotated through an IO port (not shown) provided in the drive unit 4 (FIG. 1) to rotate the cam 16 fixed to the motor shaft, the cam 16 slides on the cam 16. With the piston 15, the sole plate 11 fixed to the other end of the piston 15 is actuated, and the position is moved rightward in the figure, so that the trainee placing his foot on the rubber plate 13 You will receive a reaction force. Therefore, by applying a reaction force to each part of the sole in order from the heel to the toe in accordance with the timing of the heel contact and the foot tip separation, the same reaction force as actually walking can be obtained. The back will receive.
【００１４】図９は空気圧による足底反力発生機構を示
すものである。図９において、１１は足底板、１３はゴ
ム板、１７は突起部、１８は空気圧チューブである。図
９に示すように、足底板１１は足載置台内の空間内にそ
れぞれ配設され、空気圧チューブ１８が加圧されると足
底板１１はゴム板１３側に付勢され、減圧されると反ゴ
ム板１３側に付勢される。そこで、図９に示すように、
空気圧チューブ１８に空気を送り込むと、突起部１７を
備えた足底板１１を作動し、図で右方向に位置を移動す
ることとなり、ゴム板１３の上に足を置いている訓練者
はその足裏に反力を受けると共に突起部１７による強い
刺激を受けることとなる。したがって、踵接地から足尖
離地のタイミングにあわせて踵から爪先方向へ順に足底
の各部分に反力を与えることにより、実際に歩行をして
いるのと同じ反力と刺激を訓練者の足裏が受けることと
なる。FIG. 9 shows a sole reaction force generating mechanism by air pressure. In FIG. 9, 11 is a sole plate, 13 is a rubber plate, 17 is a projection, and 18 is a pneumatic tube. As shown in FIG. 9, the sole plates 11 are respectively disposed in the spaces in the footrests, and when the pneumatic tubes 18 are pressurized, the sole plates 11 are urged toward the rubber plate 13 and when the pressure is reduced, It is urged toward the anti-rubber plate 13 side. Therefore, as shown in FIG.
When air is supplied to the pneumatic tube 18, the sole plate 11 provided with the projections 17 is actuated, and moves to the right in the figure. It receives a reaction force on the back and receives a strong stimulus from the projection 17. Therefore, by applying a reaction force to each part of the sole in order from the heel to the toe in accordance with the timing of the heel contact and the tip off, the trainee receives the same reaction force and stimulus as actually walking. Of the foot will be received.
【００１５】次に、踵接地から足尖離地以降までのタイ
ミングについて、図２および図３に基づいて説明する。
図２は健常者の歩行周期の股関節、膝関節および足関節
の関節運動と歩行パターンを示す図、図３は本実施例の
歩行パターンの実現を示す図である。図２において、健
常者の歩行周期は、通常、踵接地、足底接地、立
脚中期、踵離地、足尖離地、遊脚初期、および
遊脚後期の股関といったように、関節運動と歩行パター
ンを示す。 踵接地において、股関節は最大屈曲位となり以後伸展
していき、膝関節はほぼ完全伸展し以後屈曲していき、
足関節は背屈位から底屈していく。 足底接地において、股関節は伸展していき、膝関節は
屈曲していき、足関節は底屈位（約１０°）となる。 立脚中期において、股関節は伸展していき、膝関節は
立脚期での最大屈曲位（約２０°）となり、足関節は背
屈していく。 踵離地において、股関節は最大伸展位（約１０°）と
なり、膝関節は伸展から屈曲に変わっていき、足関節は
最大背屈位（約１０°）となり以後は底屈していく。 足尖離地において、股関節は屈曲に向かい、膝関節は
屈曲に向かい、足関節は最大底屈位（約２０°）とな
る。 遊脚初期において、股関節は加速しながら屈曲してい
き、膝関節は最大約６０°まで屈曲していき、足関節は
背屈していく。 遊脚後期において、股関節は減速しながら屈曲してい
き、膝関節は伸展していき、足関節は背屈位を保つ。 このように、健常者の歩行時には、上記踵接地、足底接
地、立脚中期、踵離地、足尖離地、遊脚初期および遊脚
後期が繰り返される。Next, the timing from when the heel touches the ground to when the foot is separated from the foot will be described with reference to FIGS.
FIG. 2 is a diagram showing the joint movements and walking patterns of the hip, knee, and ankle joints in the walking cycle of a healthy person, and FIG. 3 is a diagram showing the realization of the walking pattern of the present embodiment. In FIG. 2, the walking cycle of a healthy person is usually joint movement with heel contact, sole contact, middle stance, heel off, apex off, early swing, and hip swing in late swing. 3 shows a walking pattern. At heel contact, the hip joint becomes the maximum flexion position and extends thereafter, and the knee joint almost completely extends and flexes thereafter,
The ankle joints flex from the dorsiflexion position. When the sole touches the ground, the hip joint extends, the knee joint flexes, and the ankle joint is in a plantar flexion position (about 10 °). In the middle of the stance phase, the hip joint extends, the knee joint reaches the maximum flexion position (about 20 °) in the stance phase, and the ankle joint dorsiflexes. At heel takeoff, the hip joint is in the maximum extension position (approximately 10 °), the knee joint is changing from extension to flexion, and the ankle joint is in the maximum dorsiflexion position (approximately 10 °) and thereafter flexes plantarflexion. At an apex takeoff, the hip joint is toward flexion, the knee joint is toward flexion, and the ankle joint is in maximum plantar flexion (about 20 °). In the early stage of the free leg, the hip joint accelerates and bends, the knee joint bends up to about 60 °, and the ankle joint dorsiflexes. In the latter half of the swing leg, the hip joint flexes while decelerating, the knee joint extends, and the ankle maintains a dorsiflexion position. As described above, when a healthy person walks, the above-mentioned heel contact, sole contact, middle stance, heel takeoff, foot tip takeoff, early swing and late swing are repeated.
【００１６】図３は制御部が、大腿駆動部、下腿駆動
部、足関節駆動部を制御し上記歩行パターンを実現した
図である。（ａ）は踵接地、（ｂ）は足底接地、（ｃ）
は立脚中期、（ｄ）は踵離地、（ｅ）は足尖離地、
（ｆ）は遊脚初期、（ｇ）は遊脚後期を実現した図であ
る。そこで、図１の歩行訓練装置を用いる訓練者は、そ
の大腿駆動部１を装着し、その下腿に下腿駆動部２を装
着し、その足関節に足関節駆動部３を装着すると、足関
節駆動部３の裏側に設けられた足底反力提示手段４が訓
練者の足底に所定のタイミングで図３に記載の反力を与
えることができるようになる。歩行訓練時において、制
御部が大腿駆動部、下腿駆動部、足関節駆動部を制御
し、踵接地、足底接地、立脚中期、踵離地、足尖離地、
遊脚初期および遊脚後期を繰り返す。また、力センサに
より訓練者の発生する力を検出し、制御部が大腿駆動部
と下腿駆動部をメカニカルインピーダンス制御して、歩
行訓練時に訓練者に無理な負荷がかからないようにす
る。この実施の形態によれば、前記制御部５が、訓練者
の肢体７を踵接地、足底接地、立脚中期、踵離地、足尖
離地、遊脚初期、遊脚後期を繰り返す歩行パターンで動
作させるように前記大腿駆動部１と前記下腿駆動部２と
前記足関節駆動部３と前記足底反力提示手段４とをそれ
ぞれ同期させて制御し、前記歩行パターンの踵接地のタ
イミングで踵に反力を与え、前記歩行パターンの足底接
地と立脚中期のタイミングで足底全体に反力を与え、前
記歩行パターンの踵離地のタイミングで足底の中央部分
から爪先に反力を与え、前期歩行パターンの足尖離地の
タイミングで爪先に反力を与え、遊脚初期と遊脚後期の
タイミングで足底に反力を与えないことにより、訓練者
の踵接地、足底接地、立脚中期、踵離地、足尖離地、遊
脚初期および遊脚後期を繰り返す歩行パターン周期にお
ける踵接地から足尖離地のタイミングにあわせて訓練者
の踵から爪先方向へ順に前記足底の各部分に反力を与え
ることで、知覚−運動連鎖の回復を促進することができ
る。FIG. 3 is a diagram in which the control unit controls the thigh drive unit, the crus drive unit, and the ankle joint drive unit to realize the above-described walking pattern. (A) is heel contact, (b) is sole contact, (c)
Is the middle stance, (d) is the heel off, (e) is the apex off,
(F) is a diagram which realized the early stage of the free leg, and (g) is a diagram which realized the second stage of the free leg. Therefore, a trainee using the walking training apparatus shown in FIG. 1 wears the thigh drive unit 1, the lower leg drive unit 2 and the ankle joint drive unit 3, and the ankle joint drive unit. The sole reaction force presenting means 4 provided on the back side of the part 3 can apply the reaction force shown in FIG. 3 to the trainee's sole at a predetermined timing. At the time of walking training, the control unit controls the thigh drive unit, the lower leg drive unit, the ankle joint drive unit, the heel contact, the sole contact, the middle stance, the heel off, the tiptoe off,
The early swing stage and the late swing stage are repeated. Further, the force sensor detects the force generated by the trainee, and the control unit controls the thigh drive unit and the lower leg drive unit with mechanical impedance so that an unreasonable load is not applied to the trainee during walking training. According to this embodiment, the control unit 5 causes the limb 7 of the trainee to repeat the heel contact, the sole contact, the middle stance, the heel off, the heel off, the free swing initial, and the late free swing. The thigh drive unit 1, the crus drive unit 2, the ankle joint drive unit 3, and the sole reaction force presenting means 4 are controlled in synchronization with each other so as to operate at the timing of the heel contact of the walking pattern. A reaction force is applied to the heel, a reaction force is applied to the entire sole at the timing of the foot contact with the foot of the walking pattern and the middle stage of the standing, and a reaction force is applied to the toe from the center of the sole at the timing of the heel take-off of the walking pattern. Giving a reaction force to the toe at the timing of the foot-to-foot separation in the first-half walking pattern, and not giving a reaction force to the sole at the timing of the initial and later stages of the swing leg, so that the trainer's heel contact and sole contact , Middle stance, heel off, foot apex, early swing and late swing By applying a reaction force to each part of the sole in the direction from the heel of the trainee to the toe in accordance with the timing of the heel contact and the tip off from the heel in the repetitive walking pattern cycle, to promote the recovery of the perception-motor chain. Can be.
【００１７】次に、この発明の歩行訓練装置において、
身長、体重、年齢等の統計的なデータから足底に加わる
反力Ｆｚ（体重の鉛直方向力）を推定する足底反力提示
手段４について、図１０〜図１３に基づいて説明する。
この実施の形態の歩行訓練装置は、前記制御部５が、身
長、体重、年齢等の統計的なデータから足底に加わる反
力Ｆｚ（体重の鉛直方向力）を推定し、前記足底反力提
示手段４を用いて、訓練者の歩行パターン周期における
踵接地から足尖離地のタイミングにあわせて訓練者の踵
から爪先方向へ順に前記足底の各部分に反力を与えるこ
とである。図１０は、健常者が歩行した場合の代表的床
反力の時間推移パターン例（体重の鉛直方向の床反力）
を示す図である。床反力は体重で基準化されている。図
１０において、例えばＲは右足、Ｌは左足の受ける反力
である。右足Ｒに体重がのっている間は左足Ｌには体重
がのらず、その移行時に徐々に右足Ｒから左足Ｌに体重
が移動する様子が分かる。また、右足Ｒについて見てみ
ると、右足Ｒに体重が移行した直後の０．２秒の時体重
の１．２０倍もの最高反力を右足Ｒが受けることが分か
る。そして、右足Ｒに体重が移行した後の０．４秒の
時、体重の０．８０倍の反力となり、その０．２秒後に
体重の１．００倍の反力となった後、急減する様子が分
かる。これはまた、左足についても、同じ傾向があるこ
とが分かる。Next, in the walking training device of the present invention,
The sole reaction force presenting means 4 for estimating the reaction force Fz (vertical force of body weight) applied to the sole from statistical data such as height, weight, and age will be described with reference to FIGS.
In the walking training device according to this embodiment, the control unit 5 estimates the reaction force Fz (vertical force of weight) applied to the sole from statistical data such as height, weight, and age, and Using the force presenting means 4 to apply a reaction force to each part of the sole in order from the heel of the trainee to the toe in accordance with the timing of the heel contact and the foot tip separation in the trainee's walking pattern cycle. . FIG. 10 is an example of a temporal transition pattern of a typical floor reaction force when a healthy person walks (vertical floor reaction force of body weight).
FIG. Floor reaction force is normalized by body weight. In FIG. 10, for example, R is a reaction force received by the right foot and L is a reaction force received by the left foot. While the weight is on the right foot R, the left foot L has no weight, and it can be seen that the weight gradually shifts from the right foot R to the left foot L during the transition. Looking at the right foot R, it can be seen that the right foot R receives a maximum reaction force of 1.20 times the weight at 0.2 seconds immediately after the weight shifts to the right foot R. Then, at 0.4 seconds after the weight shifts to the right foot R, the reaction force becomes 0.80 times the body weight, and 0.2 seconds later, the reaction force becomes 1.00 times the body weight, and suddenly decreases. You can see how it works. It can also be seen that the same tendency exists for the left foot.
【００１８】図１１は、人間の足跡図に歩行時の作用点
軌跡を重ねた図である。図において、右足Ｒに体重が移
行した直後の０．１秒で踵（ＨＥＥＬ）部に作用点があ
り、０．２秒で土踏まず（ＭＩＤ ＦＯＯＴ）部下端
に、０．３秒でＭＩＤ ＦＯＯＴ部中央に、０．４秒で
ＭＩＤ ＦＯＯＴ部上端に、その後０．５秒〜０．８秒
でＭＰ部の外側から内側に移り、爪先へと移行すること
が分かる。このように、図１１からは右足Ｒに体重が移
行した後の何秒後に右足のどの部分に作用点があるかが
分かるので、これと図１０とを組み合わせることによ
り、どの時点で足裏のどの部分にどの位の反力を与えれ
ば、歩行と同じ状態をシミュレートできるかが分かるこ
ととなる。すなわち、右足Ｒに体重が移行した直後の
０．１秒で踵（ＨＥＥＬ）部に体重の０．５倍を与え、
０．２秒で土踏まず（ＭＩＤ ＦＯＯＴ）部下端に体重
の１．２０倍を与え、０．３秒でＭＩＤ ＦＯＯＴ部中
央に体重の０．８倍を与え、０．５秒でＭＰ部の外側に
体重の１．０倍を与えればよいことが分かる。FIG. 11 is a diagram in which a locus of action point during walking is superimposed on a human footprint. In the figure, there is an action point in the heel (HEEL) portion at 0.1 second immediately after the weight shifts to the right foot R, an arch (MID FOOT) lower end at 0.2 second, and a MID FOOT portion at 0.3 second. It can be seen that at the center, the upper part of the MID FOOT part is moved in 0.4 seconds, then from the outside to the inner part of the MP part in 0.5 to 0.8 seconds, and then to the toe. In this way, from FIG. 11, it is possible to know which part of the right foot has an action point after the shift of the weight to the right foot R, and by combining this with FIG. It will be understood how much reaction force is applied to which part to simulate the same state as walking. That is, 0.5 times the weight is given to the heel (HEEL) part 0.1 seconds immediately after the weight shifts to the right foot R,
Give 0.20 times the weight to the bottom of the (MID FOOT) part in 0.2 seconds, give 0.8 times the weight to the center of the MID FOOT part in 0.3 seconds, and outside the MP part in 0.5 seconds It is understood that it is only necessary to give 1.0 times the body weight to.
【００１９】図１２（ａ）は、歩行中の足底を８分割し
たそれぞれの部位の最大ピーク足底圧の平均値と標準偏
差を示す図で、縦軸は圧力（ｇ／ｃｍ2）で、横軸は８
分割部位である。図を見れば、足底を８分割したそれぞ
れの部位にどれくらいの足底圧を与えればよいかが分か
る。例えば、ＨＥＥＬ部は４００〜６００（ｇ／ｃ
ｍ 2）の圧力がかかり、その平均値は５００（ｇ／ｃ
ｍ2）であり、標準偏差は１００（ｇ／ｃｍ2）である。
図１２（ｂ）は足底の８分割の具体例である。図におい
て、足の長さ方向に踵部から爪先に向けて順に、ＨＥＥ
Ｌ（踵）部、ＭＩＴ ＦＯＯＴ（土踏まず）部、ＭＰ
部、足指（足趾）部と、大きく４分割され、さらに、Ｍ
Ｐ部、足指部につき、内側・中間・外側と３分割され、
合計で８分割されている。図１２（ｃ）は図１２（ｂ）
の足底の８分割に合わせて足底に配置された足底板であ
る。図において、ＨはＨＥＥＬ部の足底板、ＭＦはＭＩ
Ｔ ＦＯＯＴの足底板、ＭＰＩはＭＰ部内側の足底板、
ＭＰＭはＭＰ部中間の足底板、ＭＰＯはＭＰ部外側の足
底板、ＦＩは足指部内側の足底板、ＦＭは足指部中間の
足底板、ＦＯは足指部外側の足底板を表している。これ
らの各足底板に、図１２（ａ）で示されているそれぞれ
の圧力を図１１で示されているそれぞれのタイミングで
与えるようにすればよい。FIG. 12 (a) shows that the sole during walking is divided into eight parts.
Mean peak sole pressure and standard deviation
In the figure showing the difference, the vertical axis represents the pressure (g / cmTwo) And the horizontal axis is 8
It is a division site. If you look at the figure, each of the soles is divided into eight
Know how much sole pressure you need to apply to these areas
You. For example, the HEEL part is 400 to 600 (g / c).
m Two) Is applied, and the average value is 500 (g / c).
mTwo) And the standard deviation is 100 (g / cmTwo).
FIG. 12B shows a specific example of dividing the sole into eight parts. Figure smell
HEE in order from the heel to the toe along the length of the foot
L (heel) part, MIT FOOT (arch) part, MP
Part, toe (toe) part, is roughly divided into four parts.
For the P part and toe part, it is divided into 3 parts inside, middle and outside,
It is divided into eight in total. FIG. 12C shows FIG.
A sole plate placed on the sole according to the eight divisions of the sole
You. In the figure, H is the sole plate of the HEEL part, MF is MI
T FOOT sole plate, MPI is the sole plate inside the MP part,
MPM is the sole in the middle of the MP, MPO is the foot outside the MP
Bottom plate, FI is the sole plate inside the toe, FM is the middle of the toe
The sole plate and FO represent the sole plate outside the toe. this
Each of the sole plates shown in FIG.
At the respective timings shown in FIG.
You should give it.
【００２０】図１３は２０歳代（ａ）と７０歳代（ｂ）
の裸足歩行における典型的な床反力波形例（体重の鉛直
方向の床反力）である。時間、床反力は各々の歩行の１
周期と体重で基準化されている。図１３（ａ）におい
て、Ｒは例えば２０歳代の若者の右足、Ｌは左足の受け
る反力である。右足Ｒについて見てみると、右足Ｒに体
重が移行した後の歩行周期１５％辺りで体重の１．２０
倍近くの最高反力を右足Ｒが受け、３０％秒で、体重の
０．８０倍の反力となり、その後４５％辺りで体重の
１．１０倍の反力となった後、急減する様子が分かる。
これはまた、左足についても、同じ傾向があることが分
かる。一方、７０歳代の人の（ｂ）において、右足Ｒ
は、右足Ｒに体重が移行した後の歩行周期１５％辺りで
体重の１．０倍近くの最高反力を右足Ｒが受けその後あ
まり大きな変動なく推移したあと急減する様子が分か
る。これはまた、左足についても、同じ傾向があること
が分かる。このように、年齢によって足底の受ける反力
が変化することが分かる。そこで、制御部が、上記訓練
者の身長、体重、年齢等の統計的なデータ、歩行時の代
表的床反力の時間推移パターン例、および人間の足跡図
に歩行時の作用点軌跡を重ねた図を基に、足底に加わる
反力Ｆｚ（体重の鉛直方向力）を推定し、足底が前後に
少なくとも２分割された（図６では３分割された）踵反
力提示部１１Ａ、ＭＩＤ ＦＯＯＴ反力提示部１１Ｂ、
爪先反力提示部１１Ｃから構成された足底反力提示手段
を用いて、訓練者の歩行パターン周期における踵接地か
ら足尖離地のタイミングにあわせて訓練者の踵、ＭＩＤ
ＦＯＯＴ、爪先へ順に反力を与えることで、歩行パタ
ーンの踵接地、足底接地、立脚中期、踵離地および足尖
離地にあわせて訓練者に適した足底反力を与えることが
できることとなる。この実施の形態によれば、訓練者の
身長、体重、年齢等に応じた最適な歩行パターンに従っ
た足底反力を訓練者の足底に与えることができる。FIG. 13 shows a person in his twenties (a) and a person in his seventies (b).
5 is a typical floor reaction force waveform example (vertical floor reaction force of body weight) in barefoot walking. Time, floor reaction force is one of each walking
It is normalized by cycle and weight. In FIG. 13 (a), R is a right foot of a young person in his twenties, and L is a reaction force received by a left foot. Looking at the right foot R, the weight is 1.20 of the walking cycle around 15% after the weight is transferred to the right foot R.
The right foot R receives almost twice the maximum reaction force, and in 30% seconds, the reaction force becomes 0.80 times the body weight, and then after 45%, the reaction force becomes 1.10 times the body weight, and then drops sharply. I understand.
It can also be seen that the same tendency exists for the left foot. On the other hand, in FIG.
It can be seen that the right foot R receives a maximum reaction force of nearly 1.0 times the body weight in a walking cycle of about 15% after the weight is transferred to the right foot R, and thereafter changes without much change, and then rapidly decreases. It can also be seen that the same tendency exists for the left foot. Thus, it can be seen that the reaction force received by the sole changes depending on the age. Therefore, the control unit superimposes the action point trajectory during walking on the statistical data of the height, weight, age, etc. of the trainee, an example of a time transition pattern of a typical floor reaction force during walking, and a human footprint map. The reaction force Fz (vertical force of body weight) applied to the sole is estimated based on the figure, and the sole is divided into at least two parts (the three parts in FIG. 6) of the heel reaction force presenting unit 11A, MID FOOT reaction force presenting unit 11B,
Using the sole reaction force presenting means constituted by the toe reaction force presenting unit 11C, the trainee's heel, MID,
By applying the reaction force to the FOOT and the toe sequentially, it is possible to provide a plantar reaction force suitable for the trainer in accordance with the walking pattern of the heel contact, the sole contact, the middle stance, the heel off, and the apex off. Becomes According to this embodiment, a plantar reaction force according to an optimal walking pattern according to the height, weight, age, etc. of the trainee can be applied to the trainee's sole.
【００２１】この発明の第２の実施形態における歩行訓
練装置について図１４に基づいて説明する。図１４にお
いて、１は大腿を駆動する大腿駆動部、２は下腿を駆動
する下腿駆動部、３は足関節を駆動する足関節駆動部、
８は大腿を装着する大腿装着部、９は下腿を装着する下
腿装着部、４は足底反力提示手段、６は力センサ、７は
訓練者の肢体、５は大腿駆動部１、下腿駆動部２、足関
節駆動部３、および足底反力提示手段４を制御する制御
部、１１は足底板、１１Ａは踵反力提示部、１１ＢはＭ
ＩＤ ＦＯＯＴ反力提示部、１１Ｃは爪先反力提示部、
１２はスライダー、１３はゴム板、１９は視覚提示手
段、２０は聴覚提示手段、２１は振動提示手段である。
視覚提示手段１９はＣＲＴデイスプレィや液晶デイスプ
レィなどであり、ここに訓練者の歩行パターン周期にお
ける踵接地、足底接地、立脚中期、踵離地、足尖離地、
遊脚初期および遊脚後期のタイミング、足底が接地して
いる時間を表示するものである。聴覚提示手段２０は音
声表示装置、ブザー、音楽、チャイムなどであり、同じ
く、訓練者の歩行パターン周期における踵接地、足底接
地、立脚中期、踵離地、足尖離地、遊脚初期および遊脚
後期のタイミング、足底が接地している時間を音声で伝
えたり、ブザーや音楽、チャイムの音色・断続周期・音
の高低など予め決められたとおりにしたがって、鳴動さ
せるものである。振動手段２１は振動発生器を用いるも
ので、同じく、訓練者の歩行パターン周期における踵接
地、足底接地、立脚中期、踵離地、足尖離地、遊脚初期
および遊脚後期のタイミング、足底が接地している時間
を振動の断続周期・振幅の高低など予め決められたとお
りにしたがって振動させるものである。そこで、前記制
御部５が、画像提示する視覚提示手段１９、音を提示す
る聴覚提示手段２０及び振動を提示する振動手段２１の
いずれか１つ以上を用いて、訓練者の歩行パターン周期
における踵接地、足底接地、立脚中期、踵離地、足尖離
地、遊脚初期および遊脚後期のタイミング、足底が接地
している時間を訓練者へ提示するようにするので、訓練
者が自分の立位バランスを認識しつつ訓練を行うことが
できるため、立位バランスの回復を促進することができ
る。A walking training device according to a second embodiment of the present invention will be described with reference to FIG. In FIG. 14, 1 is a thigh drive unit that drives the thigh, 2 is a lower leg drive unit that drives the lower leg, 3 is an ankle drive unit that drives the ankle joint,
Reference numeral 8 denotes a thigh mounting portion for mounting a thigh; 9, a lower leg mounting portion for mounting a lower leg; 4, a sole reaction force presenting means; 6, a force sensor; 7, a limb of a trainee; 5, a thigh driving unit 1; A control section for controlling the section 2, the ankle driving section 3, and the sole reaction force presenting means 4; 11, a sole plate; 11A, a heel reaction force presenting section;
ID FOOT reaction force presenting section, 11C is a toe reaction force presenting section,
12 is a slider, 13 is a rubber plate, 19 is visual presentation means, 20 is auditory presentation means, and 21 is vibration presentation means.
The visual presentation means 19 is a CRT display, a liquid crystal display, or the like, and includes a heel contact, a sole contact, a middle stance, a heel off, a heel off, and a heel contact in a trainee's walking pattern cycle.
The timing of the early stage and the late stage of the free leg, and the time during which the sole touches the ground are displayed. The auditory presentation means 20 is a voice display device, a buzzer, music, a chime, and the like. Similarly, the heel contact, the sole contact, the middle stance, the heel off, the heel off, the apex release, and The timing of the latter half of the swing leg and the time during which the sole touches the ground are communicated by voice, and the buzzer, music, and chime are sounded according to a predetermined color such as timbre, intermittent cycle, and pitch. The vibration means 21 uses a vibration generator, and similarly, the timing of the heel contact, the sole contact, the middle stance, the heel off, the tiptoe off, the free leg early and the late free leg in the trainee's walking pattern cycle, The time during which the sole is in contact with the ground is vibrated in accordance with a predetermined period such as the intermittent period of vibration and the amplitude. Therefore, the control unit 5 uses at least one of the visual presenting means 19 for presenting an image, the auditory presenting means 20 for presenting a sound, and the vibrating means 21 for presenting a vibration, and the heel in the trainee's walking pattern cycle. The trainee should be presented with the ground contact, sole contact, middle stance, heel off, apex off, timing of early and late swing, and time of sole contact. Since training can be performed while recognizing the standing balance, recovery of the standing balance can be promoted.
【００２２】この発明の第３の実施形態における歩行訓
練装置について図１５に基づいて説明する。図１５にお
いて、１は大腿を駆動する大腿駆動部、２は下腿を駆動
する下腿駆動部、３は足関節を駆動する足関節駆動部、
８は大腿を装着する大腿装着部、９は下腿を装着する下
腿装着部、４は足底反力提示手段、６は力センサ、７は
訓練者の肢体、５は大腿駆動部１、下腿駆動部２、足関
節駆動部３、および足底反力提示手段４を制御する制御
部、１１は足底板、１２はスライダー、１３はゴム板で
ある。前記大腿駆動部１と、前記下腿駆動部２と、前記
足関節駆動部３と、前記足底反力提示手段４とをそれぞ
れ２つずつ備え、両脚で歩行訓練を行い、訓練者の歩行
パターン周期における踵接地から足尖離地のタイミング
にあわせて訓練者の踵から爪先方向へ順に前記足底の各
部分に反力を与えるものである。制御部５が大腿駆動部
１、下腿駆動部２、足関節駆動部３、および足底反力提
示手段４とをそれぞれ２つずつ制御して訓練者の肢体を
歩行パターン１０で動作させ、かつ訓練者の歩行パター
ン周期において、制御部に備えられたＩＯポートを介し
て足底反力提示手段を作動し、踵接地から足尖離地のタ
イミングにあわせて踵から爪先方向へ順に足底の各部分
に反力を与える。この実施の形態の歩行訓練装置によれ
ば、前記大腿駆動部１と、前記下腿駆動部２と、前記足
関節駆動部３と、前記足底反力提示手段４とをそれぞれ
２つずつ備え、両脚で歩行訓練を行い、訓練者の歩行パ
ターン周期における踵接地から足尖離地のタイミングに
あわせて訓練者の踵から爪先方向へ順に前記足底の各部
分に反力を与えることで、両脚を用いて歩行を模擬した
訓練を同時にすることができる。A walking training device according to a third embodiment of the present invention will be described with reference to FIG. In FIG. 15, 1 is a thigh drive unit that drives the thigh, 2 is a lower leg drive unit that drives the lower leg, 3 is an ankle drive unit that drives the ankle joint,
Reference numeral 8 denotes a thigh mounting portion for mounting a thigh; 9, a lower leg mounting portion for mounting a lower leg; 4, a sole reaction force presenting means; 6, a force sensor; 7, a limb of a trainee; 5, a thigh driving unit 1; A control unit that controls the unit 2, the ankle joint driving unit 3, and the sole reaction force presenting means 4, 11 is a sole plate, 12 is a slider, and 13 is a rubber plate. The thigh driving unit 1, the lower leg driving unit 2, the ankle driving unit 3, and the sole reaction force presenting unit 4 are provided two each, and a walking training is performed with both legs, and a trainee's walking pattern A reaction force is applied to each portion of the sole in order from the heel of the trainee to the toe in accordance with the timing of the heel contact with the foot to the ground in the cycle. The control unit 5 controls the thigh drive unit 1, the lower leg drive unit 2, the ankle joint drive unit 3, and the sole reaction force presenting means 4 by two each so that the limb of the trainee operates in the walking pattern 10, and In the walking pattern cycle of the trainee, the sole reaction force presenting means is operated via the IO port provided in the control unit, and the sole of the sole is sequentially moved from the heel to the toe in accordance with the timing of the heel contact and the foot tip separation. Apply a reaction force to each part. According to the walking training device of this embodiment, the thigh drive unit 1, the crus drive unit 2, the ankle drive unit 3, and the sole reaction force presenting means 4 are provided two each. By performing walking training with both legs, by applying a reaction force to each part of the sole in order from the heel of the trainee to the toes in accordance with the timing of the heel contact and foot tip separation in the trainee's walking pattern cycle, The training which simulates walking can be performed at the same time.
【００２３】[0023]
【発明の効果】以上のように、請求項１〜５記載の歩行
訓練装置によれば、少なくとも２分割して訓練者の足底
に反力を与える足底反力提示手段４を備えることで、に
よれば、訓練者の歩行パターン周期における踵接地から
足尖離地のタイミングにあわせて訓練者の踵から爪先方
向へ順に前記足底の踵とＭＩＤ ＦＯＯＴと爪先に反力
を与えることで、歩行訓練時の踵とＭＩＤ ＦＯＯＴと
爪先に模擬的に床反力を与えることができる。請求項６
記載の歩行訓練装置によれば、訓練者の歩行パターン周
期における踵接地から足尖離地のタイミングにあわせて
訓練者の踵から爪先方向へ順に前記足底の各部分に反力
を与えることで、歩行パターンの立脚期に同期させて足
底の各部分に反力を与えることができる。請求項７記載
の歩行訓練装置によれば、前記制御部５が訓練者の身
長、体重、年齢等に即した足底反力を与えることができ
る。請求項８記載の歩行訓練装置によれば、画像を提示
する視覚提示手段１９、音を提示する聴覚提示手段２０
及び振動を提示する振動手段２１のいずれか１つ以上を
用いることで、訓練者は自分の立位バランスを認識しつ
つ訓練を行うことができるため、立位バランスの回復を
促進することができる。請求項９記載の歩行訓練装置に
よれば、両脚を用いて歩行を模擬した訓練を同時にする
ことができる。As described above, according to the walking training apparatus according to the first to fifth aspects, the plantar is provided with the sole reaction force presenting means 4 for applying a reaction force to the sole of the trainee by dividing the at least two parts. According to the above, by applying a reaction force to the heel of the sole, the MID FOOT, and the toe in order from the heel of the trainee to the toe in accordance with the timing of the heel contact and the tiptoe takeoff in the trainee's walking pattern cycle. The floor reaction force can be imitated to the heel, the MID FOOT, and the toe during walking training. Claim 6
According to the walking training device described, by applying a reaction force to each portion of the sole in order from the heel of the trainee to the toe in accordance with the timing of the foot heel contact from the heel contact in the trainee's walking pattern cycle. In addition, a reaction force can be applied to each part of the sole in synchronization with the standing phase of the walking pattern. According to the walking training device of the seventh aspect, the control unit 5 can give a sole reaction force according to the height, weight, age, etc. of the trainee. According to the walking training device of the eighth aspect, the visual presenting means 19 for presenting an image and the auditory presenting means 20 for presenting a sound.
By using any one or more of the vibration means 21 for presenting the vibration and the vibration, the trainee can perform the training while recognizing his or her standing balance, and thus the recovery of the standing balance can be promoted. . According to the gait training device according to the ninth aspect, it is possible to simultaneously perform training simulating walking using both legs.
【図１】本発明の第１の実施の形態における歩行訓練装
置の構成を示す図である。である。FIG. 1 is a diagram illustrating a configuration of a walking training device according to a first embodiment of the present invention. It is.
【図２】健常者の歩行周期の股関節、膝関節および足関
節の関節運動と歩行パターンを示す図である。FIG. 2 is a diagram showing a joint motion and a walking pattern of a hip joint, a knee joint, and an ankle joint in a walking cycle of a healthy person.
【図３】本発明による歩行パターンの実現を示す図であ
る。FIG. 3 is a diagram showing the realization of a walking pattern according to the present invention.
【図４】本発明による足底反力提示手段の第１実施例を
示す図である。FIG. 4 is a view showing a first embodiment of a sole reaction force presenting means according to the present invention.
【図５】図４の足底反力提示手段を用いた足底反力提示
方法を示す図である。FIG. 5 is a diagram showing a sole reaction force presenting method using the sole reaction force presenting means of FIG. 4;
【図６】本発明による足底反力提示手段の第２実施例を
示す図である。FIG. 6 is a view showing a second embodiment of a sole reaction force presenting means according to the present invention.
【図７】図６の足底反力提示手段を用いた足底反力提示
方法を示す図である。FIG. 7 is a diagram showing a sole reaction force presenting method using the sole reaction force presenting means of FIG. 6;
【図８】足底反力提示手段４に反力を発生させる足底反
力発生機構の第１実施例を示すものである。FIG. 8 shows a first embodiment of a sole reaction force generating mechanism for generating a reaction force in the sole reaction force presenting means 4;
【図９】足底反力提示手段４に反力を発生させる足底反
力発生機構の第２実施例を示すものである。FIG. 9 shows a second embodiment of a sole reaction force generating mechanism for generating a reaction force in the sole reaction force presenting means 4;
【図１０】健常者が歩行した場合の代表的床反力の時間
推移パターン例を示す図である。FIG. 10 is a diagram showing an example of a temporal transition pattern of a representative floor reaction force when a healthy person walks.
【図１１】人間の足跡図に歩行時の作用点軌跡を重ねた
図である。FIG. 11 is a diagram in which an action point trajectory during walking is superimposed on a human footprint map.
【図１２】歩行中の足底を８分割したそれぞれの部位の
最大ピーク足底圧の平均値と標準偏差を示す図である。FIG. 12 is a diagram showing the average value and the standard deviation of the maximum peak plantar pressure of each part obtained by dividing the plantar during walking into eight parts.
【図１３】２０歳代（ａ）と７０歳代（ｂ）の裸足歩行
における典型的な床反力波形例を示す図である。FIG. 13 is a diagram showing a typical floor reaction force waveform example in barefoot walking in the twenties (a) and the seventies (b).
【図１４】本発明の第２の実施形態における歩行訓練装
置の構成を示す図である。FIG. 14 is a diagram illustrating a configuration of a walking training device according to a second embodiment of the present invention.
【図１５】本発明の第３の実施形態における歩行訓練装
置の構成を示す図である。FIG. 15 is a diagram illustrating a configuration of a walking training device according to a third embodiment of the present invention.
【図１６】従来例の肢体駆動装置の制御装置の回路構成
を示す図である。FIG. 16 is a diagram showing a circuit configuration of a control device of a conventional limb driving device.
【図１７】従来例の足マッサージ器を示す図である。FIG. 17 is a view showing a conventional foot massager.
１ 大腿駆動部 ２ 下腿駆動部 ３ 足関節駆動部 ４ 足底反力提示手段 ５ 制御部 ６ 力センサ ７ 訓練者の肢体 ８ 大腿装着部 ９ 下腿装着部 １０ 歩行パターン １１ 足底板 １１Ａ 踵反力提示部 １１Ｂ ＭＩＤ ＦＯＯＴ反力提示部 １１Ｃ 爪先反力提示部 １２ スライダー １３ ゴム板 １４ モータ １５ ピストン １６ カム １７ 突起部 １８ 空気圧チューブ １９ 視覚提示手段 ２０ 聴覚提示手段 ２１ 振動提示手段 １０１ 駆動装置のアーム １０２ 肢体 １０３ スプリント（手先位置） １０４ 力センサ １０５ モータ １０６ 回転角度検出部 １０７ アナログ／デジタル変換器 １０８ 変位演算処理部 １０９ 逆運動学計算部 １１０ 目標軌道設定部 １１１ 回転角変換回路 １１２ ゲイン積分器 １１３ デジタル／アナログ変換器 １１４ サーボアンプ １１５ 負荷推定部 １１６ インピーダンス定数変換部 １１７ 関節負荷計測センサ １１８ インピーダンス定数変換部 １１９ 肢体位置計測センサ ２０１ 足マッサージ器 ２０２ 本体 ２０３ 突起物 ２０４ 足裏 ２０５ 突起物駆動手段 ２０６ 開口部 ２０７ 圧力センサ ２０８ 信号線 ２０９ 制御回路 ２１０ 刺激パラメータ入力部 REFERENCE SIGNS LIST 1 thigh drive unit 2 lower leg drive unit 3 ankle drive unit 4 sole reaction force presenting means 5 control unit 6 force sensor 7 trainer's limb 8 thigh mounting unit 9 lower leg mounting unit 10 walking pattern 11 sole plate 11A presenting heel reaction force Part 11B MID FOOT reaction force presenting part 11C Toe reaction force presenting part 12 Slider 13 Rubber plate 14 Motor 15 Piston 16 Cam 17 Projecting part 18 Pneumatic tube 19 Visual presentation means 20 Auditory presentation means 21 Vibration presentation means 101 Arm of driving device 102 Limb 103 Sprint (hand position) 104 Force sensor 105 Motor 106 Rotation angle detection unit 107 Analog / Digital converter 108 Displacement calculation processing unit 109 Inverse kinematics calculation unit 110 Target trajectory setting unit 111 Rotation angle conversion circuit 112 Gain integrator 113 Digital / Analog converter 114 Servo un Step 115 Load estimation unit 116 Impedance constant conversion unit 117 Joint load measurement sensor 118 Impedance constant conversion unit 119 Limb position measurement sensor 201 Foot massager 202 Main body 203 Projection 204 Foot sole 205 Projection drive unit 206 Opening 207 Pressure sensor 208 Signal Line 209 control circuit 210 stimulus parameter input unit
Claims (17)
する大腿駆動部（１）と、 訓練者の下腿に装着して前記下腿を駆動する下腿駆動部
（２）と、 訓練者の足関節に装着して前記足関節を駆動する足関節
駆動部（３）と、 前記大腿駆動部（１）と前記下腿駆動部（２）と前記足
関節駆動部（３）とを制御する制御部（５）を備えた歩
行訓練装置において、 少なくとも２分割されてなる訓練者の足底に反力を与え
る足底反力提示手段（４）を備えたことを特徴とする歩
行訓練装置。1. A thigh drive unit (1) mounted on a trainee's thigh to drive the thigh; a lower leg drive unit (2) mounted on a trainee's thigh and driving the lower thigh; Control for controlling the ankle drive unit (3) mounted on the ankle joint to drive the ankle joint; controlling the thigh drive unit (1), the crus drive unit (2), and the ankle drive unit (3) A walking training device comprising a part (5), comprising a sole reaction force presenting means (4) for giving a reaction force to a sole of a trainee, which is divided into at least two parts.
れ足底を前後に少なくとも２分割してなることを特徴と
する請求項１記載の歩行訓練装置。2. The walking training device according to claim 1, wherein the sole reaction force presenting means (4) divides the sole into at least two parts in the front and rear directions.
に反力を提示する踵反力提示部（１１Ａ）と、土踏まず
付近に反力を提示するＭＩＤ ＦＯＯＴ反力提示部（１
１Ｂ）と、爪先付近に反力を提示する爪先反力提示部
（１１Ｃ）との足底を前後に３分割して構成されること
を特徴とする請求項２記載の歩行訓練装置。3. The sole reaction force presenting means (4) includes a heel reaction force presenting unit (11A) for presenting a reaction force near the heel, and a MID FOOT reaction force presenting unit (4) for presenting a reaction force near the arch. 1
3. The walking training device according to claim 2, wherein the sole of the toe reaction force presenting section (11C) for presenting a reaction force in the vicinity of the toe is divided into three front and rear parts.
内外に少なくとも２分割してなる反力提示部（１１Ａ、
１１Ｂ、１１Ｃ）を含むことを特徴とする請求項２又は
３記載の歩行訓練装置。The sole reaction force presenting means (4) includes a reaction force presenting unit (11A,
11B, 11C), the walking training device according to claim 2 or 3, wherein
の歩行パターン周期における踵接地から足尖離地のタイ
ミングにあわせて訓練者の踵から爪先方向へ順に前記足
底の各部分に反力を与えることを特徴とする請求項１〜
４のいずれか１項記載の歩行訓練装置。5. The plantar reaction force presenting means (4) sequentially moves from the trainee's heel to the toe in accordance with the timing of the heel contact and the tip-off from the heel in the trainee's walking pattern cycle. A reaction force is applied to the portion.
The walking training device according to any one of claims 4 to 7.
（７）を踵接地、足底接地、立脚中期、踵離地、足尖離
地、遊脚初期および遊脚後期を繰り返す歩行パターンで
動作させるように前記大腿駆動部（１）と前記下腿駆動
部（２）と前記足関節駆動部（３）と前記足底反力提示
手段（４）とをそれぞれ同期させて制御し、前記歩行パ
ターンの踵接地のタイミングで踵に反力を与え、前記歩
行パターンの足底接地と立脚中期のタイミングで足底全
体に反力を与え、前記歩行パターンの踵離地のタイミン
グで足底の中央部分から爪先に反力を与え、前期歩行パ
ターンの足尖離地のタイミングで爪先に反力を与え、遊
脚初期と遊脚後期のタイミングで足底に反力を与えない
ことにより、訓練者の歩行パターン周期における踵接地
から足尖離地のタイミングにあわせて訓練者の踵から爪
先方向へ順に前記足底の各部分に反力を与えることを特
徴とする請求項１〜５のいずれか１項記載の歩行訓練装
置。6. The walker in which the control section (5) repeats the trainee's limb (7) in heel contact, sole contact, middle stance, heel takeoff, foot tip takeoff, early swing phase and late swing phase. The thigh drive section (1), the lower leg drive section (2), the ankle drive section (3), and the sole reaction force presenting means (4) are controlled in synchronization with each other so as to operate in a pattern, A reaction force is applied to the heel at the timing of the heel contact of the walking pattern, and a reaction force is applied to the entire sole at the timing of the sole contact of the walking pattern and the middle stage of the stance. By giving a reaction force to the toe from the center part of the toe, giving a reaction force to the toe at the timing of the foot tip off of the early walking pattern, and not giving a reaction force to the sole at the timing of the initial swing and the late swing leg, Taimin from heel contact to foot tip off during trainee walking pattern cycle The walking training device according to any one of claims 1 to 5, wherein a reaction force is applied to each portion of the sole in order from the heel of the trainee to the toe in accordance with the gag.
の統計的なデータの１つ以上に基づいて足底に加わる反
力Ｆｚ（体重の鉛直方向力）を推定し、前記足底反力提
示手段（４）を用いて、訓練者の歩行パターン周期にお
ける踵接地から足尖離地のタイミングにあわせて訓練者
の踵から爪先方向へ順に前記足底の各部分に反力を与え
ることを特徴とする請求項１〜６のいずれか１項記載の
歩行訓練装置。7. The control unit (5) estimates a reaction force Fz (vertical force of weight) applied to the sole based on at least one of statistical data of height, weight, and age, and Using the sole reaction force presenting means (4), a reaction force is applied to each part of the sole in order from the heel of the trainee to the toes in accordance with the timing of the heel contact and the tip off of the foot in the trainee's walking pattern cycle. The walking training device according to any one of claims 1 to 6, wherein the walking training device is provided.
覚提示手段（１９）、音を提示する聴覚提示手段（２
０）及び振動を提示する振動手段（２１）のいずれか１
つ以上を用いて、訓練者の歩行パターン周期における踵
接地、足底接地、立脚中期、踵離地、足尖離地、遊脚初
期および遊脚後期のタイミング、足底が接地している時
間を目的に応じて訓練者へ提示することを特徴とする請
求項１〜７のいずれか１記載の歩行訓練装置。8. The control unit (5) comprises: a visual presentation unit (19) for presenting an image; and an auditory presentation unit (2) for presenting a sound.
0) and any one of vibration means (21) for presenting vibration
Using one or more, the heel contact, sole contact, middle stance, heel takeoff, foot apex, timing of the early and late swing leg, and the time the sole touches down in the trainee's walking pattern cycle The walking training device according to any one of claims 1 to 7, wherein is presented to the trainee according to the purpose.
大腿駆動部（１）と、前記下腿駆動部（２）と、前記足
関節駆動部（３）と、前記足底反力提示手段（４）とを
それぞれ２つずつ備え、両脚で同時に歩行訓練を行うこ
とができることを特徴とする歩行訓練装置。9. The thigh drive (1) according to any one of claims 1 to 8, the lower leg drive (2), the ankle drive (3), and the sole reaction force. A walking training device comprising two presentation means (4) each, and capable of simultaneously performing walking training with both legs.
る歩行訓練装置の一部に用いられる足載置台（３０）で
あって、足関節駆動部（３）と足底反力提示手段（４）
とを備えてなることを特徴とする歩行訓練装置用足載置
台。10. A footrest (30) used as a part of a walking training device that allows a trainee to perform walking training in a supine position, comprising an ankle joint drive unit (3) and a sole reaction force presenting means ( 4)
And a footrest for a walking training device.
板（１１）と、前記足底板（１１）を足底に対して直角
方向へ駆動する足底板駆動機構と、を備えていることを
特徴とする請求項１０記載の歩行訓練装置用足載置台。11. The sole reaction force presenting means (4) includes a sole plate (11), and a sole plate driving mechanism for driving the sole plate (11) in a direction perpendicular to the sole. The footrest for a walking training device according to claim 10, wherein:
少なくとも２分割されてなることを特徴とする請求項１
０又は１１記載の歩行訓練装置用足載置台。12. The sole plate according to claim 1, wherein the sole is divided into at least two parts.
12. The footrest for a walking training device according to 0 or 11.
を前後に３分割し、踵付近に反力を提示する踵反力提示
部（１１Ａ）と、土踏まず付近に反力を提示するＭＩＤ
ＦＯＯＴ反力提示部（１１Ｂ）と、爪先付近に反力を
提示する爪先反力提示部（１１Ｃ）で構成されることを
特徴とする請求項１０〜１２のいずれか１項記載の歩行
訓練装置用足載置台。13. The sole plate (11) divides the sole into three parts in the front and back, and presents a heel reaction force presenting section (11A) for presenting a reaction force near the heel, and a MID for presenting a reaction force near the arch.
The walking training device according to any one of claims 10 to 12, comprising a FOOT reaction force presenting unit (11B) and a toe reaction force presenting unit (11C) for presenting a reaction force near the toe. Foot mounting table.
を内外に少なくとも２分割されてなることを特徴とする
請求項１０〜１３のいずれか１項記載の歩行訓練装置用
足載置台。14. The footrest for a walking training device according to claim 10, wherein the soleplate (11) is formed by dividing a sole into at least two parts inside and outside.
に前記各足底板の表面側全体を覆う可撓性カバーを備え
てなることを特徴とする請求項１０〜１４のいずれか１
項記載の歩行訓練装置用足載置台。15. The plantar reaction force presenting means (4) further comprises a flexible cover for covering the entire front side of each plantar plate.
Item 10. The footrest for a walking training device according to the above item.
であることを特徴とする請求項１５項記載の歩行訓練装
置用足載置台。16. The flexible cover comprises a rubber plate (13).
The foot placement table for a walking training device according to claim 15, wherein:
るための多数の突起部（１７）を表面に備えてなること
を特徴とする請求項１１〜１６のいずれか１項記載の歩
行訓練装置用足載置台。17. The sole plate according to claim 11, wherein the sole plate has a plurality of projections on its surface for stimulating the sole. Footrest for walking training device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001155794A JP2002345907A (en) | 2001-05-24 | 2001-05-24 | Walking exercising device and placing table for the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001155794A JP2002345907A (en) | 2001-05-24 | 2001-05-24 | Walking exercising device and placing table for the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002345907A true JP2002345907A (en) | 2002-12-03 |
Family
ID=18999914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001155794A Abandoned JP2002345907A (en) | 2001-05-24 | 2001-05-24 | Walking exercising device and placing table for the same |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002345907A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005074063A (en) * | 2003-09-02 | 2005-03-24 | Yaskawa Electric Corp | Gait training apparatus |
| JP2006239086A (en) * | 2005-03-02 | 2006-09-14 | Matsushita Electric Works Ltd | Walking sensation generating device |
| JP2007520309A (en) * | 2004-02-05 | 2007-07-26 | モトリカ インク | Music rehabilitation |
| JP2010075213A (en) * | 2008-09-23 | 2010-04-08 | Honda Motor Co Ltd | Rehabilitation apparatus and method for controlling the same |
| WO2010050396A1 (en) * | 2008-10-28 | 2010-05-06 | トヨタ自動車株式会社 | Walking aid device |
| JP2011502663A (en) * | 2007-11-16 | 2011-01-27 | エムエルエス ラニー ゲゼルシャフト ミット ベシュレンクテル ハフツング | Device for training and / or analyzing a user's musculoskeletal system |
| CN112656642A (en) * | 2020-12-17 | 2021-04-16 | 杭州华移技术有限公司 | Postoperative leg rehabilitation training device |
| CN116251330A (en) * | 2022-10-19 | 2023-06-13 | 天津医科大学总医院空港医院 | Knee joint rehabilitation training machine |
| JP7460070B2 (en) | 2020-03-31 | 2024-04-02 | ミナト医科学株式会社 | Core exercise equipment |
-
2001
- 2001-05-24 JP JP2001155794A patent/JP2002345907A/en not_active Abandoned
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005074063A (en) * | 2003-09-02 | 2005-03-24 | Yaskawa Electric Corp | Gait training apparatus |
| JP2007520309A (en) * | 2004-02-05 | 2007-07-26 | モトリカ インク | Music rehabilitation |
| JP2006239086A (en) * | 2005-03-02 | 2006-09-14 | Matsushita Electric Works Ltd | Walking sensation generating device |
| JP2011502663A (en) * | 2007-11-16 | 2011-01-27 | エムエルエス ラニー ゲゼルシャフト ミット ベシュレンクテル ハフツング | Device for training and / or analyzing a user's musculoskeletal system |
| JP2010075213A (en) * | 2008-09-23 | 2010-04-08 | Honda Motor Co Ltd | Rehabilitation apparatus and method for controlling the same |
| JP4506890B2 (en) * | 2008-10-28 | 2010-07-21 | トヨタ自動車株式会社 | Walking assist device |
| JP2010104397A (en) * | 2008-10-28 | 2010-05-13 | Toyota Motor Corp | Walking assist device |
| WO2010050396A1 (en) * | 2008-10-28 | 2010-05-06 | トヨタ自動車株式会社 | Walking aid device |
| US8674838B2 (en) | 2008-10-28 | 2014-03-18 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| JP7460070B2 (en) | 2020-03-31 | 2024-04-02 | ミナト医科学株式会社 | Core exercise equipment |
| CN112656642A (en) * | 2020-12-17 | 2021-04-16 | 杭州华移技术有限公司 | Postoperative leg rehabilitation training device |
| CN116251330A (en) * | 2022-10-19 | 2023-06-13 | 天津医科大学总医院空港医院 | Knee joint rehabilitation training machine |
| CN116251330B (en) * | 2022-10-19 | 2023-09-01 | 天津医科大学总医院空港医院 | Knee joint rehabilitation training machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4690890B2 (en) | Apparatus and method for applying skin sensory stimulation | |
| CN108236560B (en) | Electric walking aid for promoting gait movement and application method thereof | |
| Yoon et al. | A 6-DOF gait rehabilitation robot with upper and lower limb connections that allows walking velocity updates on various terrains | |
| US20040097330A1 (en) | Method, apparatus and system for automation of body weight support training (BWST) of biped locomotion over a treadmill using a programmable stepper device (PSD) operating like an exoskeleton drive system from a fixed base | |
| Tamburella et al. | Neuromuscular controller embedded in a powered ankle exoskeleton: Effects on gait, clinical features and subjective perspective of incomplete spinal cord injured subjects | |
| JP4168242B2 (en) | Rehabilitation support device | |
| JP6846535B2 (en) | Animal locomotion support device | |
| WO2021068038A1 (en) | Methods, devices and systems for providing stimulus to guide movement | |
| JP2005013442A (en) | Walking exercise equipment and control method of walking exercise equipment | |
| JP2002345907A (en) | Walking exercising device and placing table for the same | |
| Tomelleri et al. | Adaptive locomotor training on an end-effector gait robot: evaluation of the ground reaction forces in different training conditions | |
| JP2004081676A (en) | Biofeedback apparatus and method | |
| US11305152B2 (en) | Apparatus for human gait manipulation | |
| JP2005211086A (en) | Walking training apparatus | |
| JP2004167056A (en) | Gait training apparatus | |
| JP2005006751A (en) | Walking training device | |
| JP2005074063A (en) | Gait training apparatus | |
| JP2001170207A (en) | Lower limb kinetogenic motion training device | |
| Marinou et al. | Towards efficient lower-limb exoskeleton evaluation: defining biomechanical metrics to quantify assisted gait familiarization | |
| Yano et al. | Interactive gait rehabilitation system with a locomotion interface for training patients to climb stairs | |
| JP2006296468A (en) | Somatosensory movement integrated evaluation and training system | |
| Novandy et al. | Interaction control of a programmable footpad-type gait rehabilitation robot for active walking on various terrains | |
| JP2023077151A (en) | Walking assist machine | |
| JP2004167055A (en) | Methodology to evaluate gait training apparatus | |
| Pinheiro | Biofeedback system to improve the human-orthosis interaction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20060324 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20071127 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20080411 |
|
| A762 | Written abandonment of application |
Free format text: JAPANESE INTERMEDIATE CODE: A762 Effective date: 20090714 |