JP2005074063A5

JP2005074063A5 -

Info

Publication number: JP2005074063A5
Application number: JP2003309908A
Authority: JP
Filing date: 2003-09-02
Publication date: 2006-10-12

Claims

A force sensor that measures the joint torque of the trainee;
An angle sensor for measuring the joint angle of the trainee;
A lower limb drive unit for driving the lower limbs of the trainee;
An ankle joint drive unit for driving the ankle joint of the trainee;
A training trajectory generating unit that generates a training trajectory for driving the lower limb driving unit and the ankle joint driving unit to operate both lower limbs in cooperation;
A gait training device that repeatedly moves the trainee's limbs along the training trajectory, comprising:
Biological information measuring means for measuring the biometric information of the trainee, a training data storage unit for storing the training trajectory and the biometric information of the trainee, and measuring or displaying a step or a walking cycle of the trainer. A training result evaluation unit for presenting a signal,
The training result evaluation unit, the evaluated training status of trainee on the basis of the biological information measured by the biological information measuring unit, by the training trajectory generating unit, stride and walking period of the training person in the training A walking training apparatus characterized by changing one or both of the above.

The biological information measuring unit measures the joint torque of the trainee using the force sensor, and the training result evaluation unit determines the magnitude of the joint torque in a constant phase of the walking cycle on the healthy side or the affected side of the lower limb. The walking training apparatus according to claim 1 , wherein one or both of a stride and a walking cycle of the trainee during training is changed by the training trajectory generation unit based on the height.

The biological information measuring unit measures a time differential value of the trainee's plantar reaction force using a plantar reaction force measuring unit, and the training result evaluation unit is configured to calculate a walking cycle of a healthy side or an affected side of the lower limb . The training trajectory generation unit changes one or both of the stride and the walking cycle of the trainee during training based on the magnitude of the time differential value of the plantar reaction force at a constant phase. The walking training apparatus according to Item 1.

The biological information measuring unit measures an integrated electromyogram of the trainer using an electromyogram measuring unit, and the training result evaluating unit is configured to perform the training in the constant phase of the walking cycle on the healthy side or the affected side of the lower limb. The gait training apparatus according to claim 1 , wherein one or both of a step length and a gait cycle of the trainee being trained is changed by the training trajectory generation unit based on a size of an integrated electromyogram.

The biological information measuring unit measures an acceleration when the lower limb of the trainee operates using an acceleration measuring unit, and the training result evaluating unit is configured to perform a constant phase of a walking cycle on the healthy side or the affected side of the lower limb . The walking according to claim 1 , wherein one or both of a stride and a walking cycle of the trainee being trained is changed by the training trajectory generation unit based on a magnitude of acceleration when the lower limb moves. Training device.