JP2005124968A - Walking training apparatus and walking unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking training apparatus and walking unit which impose less load on the groin of patient body intensively when the patient shifts his position from sitting to standing position. <P>SOLUTION: The apparatus comprises: a thigh arm 4; a lower leg arm 5 ; a thigh splint 9 for transmitting the movement of the thigh arm 4 by holding the thighs; a lower leg splint 9 for transmitting the movement of the lower leg 5 by holding the lower legs; a spring seat 6 for sitting; a seat 8 for supporting a body; a swiveling unit 3 for swiveling the thigh arm 4, the lower leg arm 5, the thigh splint 9, the lower leg splint 10, and the sheet 8; a lifting unit 2 for lifting the above, and a console 38. A training position of this apparatus can be shifted from a lying position, oblique position, sitting position, and standing position by the swiveling unit 3 and the lifting unit 2. In that case, spring sheet 6 is moved away from the body of the patient. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a walking training apparatus and a walking unit for recovering a walking function of a patient whose lower limbs are inconvenient due to stroke or the like.

The conventional gait training device restores the walking function that is reduced by imposing a passive movement on the gait trainer, so that it can perform efficient rehabilitation with its safety and economy that does not require caregivers. In order to recover the walking function of the patient, for example, there are the following walking training apparatuses described in Patent Document 1 and Patent Document 2.
JP 2000-229108 A JP 2000-102576 A

Hereinafter, the walking training apparatus described in Patent Document 1 will be briefly described.
18 and 19 show the walking training apparatus described in Patent Document 1. FIG.
In the figure, P is a personal computer, 101 is a frame, 102 is a driver, 103 is a rail, 105 is a handrail, 106 is a trainer, 107 is a footrest, 108 is a base, 109 is an operation switch, and 111 is a belt. 112 are supporters.
That is, this gait training device has a frame 101 having a trainer holding device 104 that supports a trainer 106 and a lower part of the trainer holding device 104 having a supporter 112. The pair of left and right footrests 107 and 107, the handrail portion 105 supported at a predetermined height on the front side of the footrests 107 and 107, and the footrests 107 and 107 are driven back and forth, and the footrests The bases 107 and 107 are composed of base portions 108 and 108 that move the rear portions up and down within a predetermined angle. In the lower part of the base part 108, as a drive mechanism for moving the footrest 107 up and down, components such as a servo motor and a ball screw (not shown) are provided.
The trainer 106 inserts both legs into the hole of the supporter 112 by the care of the caregiver and suspends it on the trainer holding device 104, and puts one foot on each of the footrests 107 and 107, respectively. When the operator prepares for walking by holding the handrail 105 or the pipes 110, 110 with both hands, and when the operator signals the trainer 106 and drives the servo motor, the footrests 107, 107 Alternately reciprocate back and forth, and the rear parts of the leg platforms 107 and 107 move up and down at a predetermined angle around the axis to form a walking state, and the trainer 106 moves the body in accordance with the movement. . When the trainee 106 stops walking exercise, the operation switch 109 is operated.

Next, the walking training apparatus described in Patent Document 2 will be briefly described.
FIG. 20 shows a walking training apparatus described in Patent Document 2. This is to provide a walking training device that can carry out the training that encouraged the actual walking movement in the supine position.
211 is a base, and 212 is a base fixed thereon. 213, 214, and 215 are drive shafts, 216 and 217 are links, 218 is a force sensor, and 219 is a gripping portion. The drive shaft 213 is driven by a motor built in the base 212 and can turn the link 216. The drive shaft 214 is driven by a motor built in the base 212, and power is transmitted through a power transmission mechanism in the link 216, so that the link 217 can be turned with respect to the link 216. The drive shaft 215 is driven by a motor built in the base portion 212, and power is transmitted through a power transmission mechanism in the links 216 and 217, so that the grip portion 219 can turn with respect to the link 217. A force sensor 218 is provided between the drive shaft 215 and the grip portion 219, and a force acting between the grip portion 219 and the drive shaft 215 is detected and a force signal F is output. The motor for the drive shafts 213, 214, and 215 provided in the base 212 has a built-in rotation sensor that can detect any of the rotational position, rotational speed, and rotational acceleration of the drive shafts 213, 214, and 215. It is like that. On the grip 219, the lower leg of a person lying down is placed and fixed, and the part facing the sole receives the force of the sole. The drive shafts 213, 214, and 215, the links 216 and 217, the force sensor 218, and the grip portion 219 form an arm, and two arms with the same configuration are provided on the base 212, so that the two lower legs of a person Can support and train. The two arms, the base 212, and the base form a drive device 210.
Therefore, in this training apparatus, the patient puts the limb 240 in the prone position, grips both lower legs by the grip portion 219, and operates the walking trajectory pattern via the links 216 and 217 in response to a command from the drive device 220. To do. The walking trajectory pattern has a virtual floor surface f1, and the patient receives a virtual floor reaction force vF on the virtual floor surface fl at the sole of the foot, and can feel as if walking.

However, in such a conventional walking training apparatus,
In Patent Document 1,
1) If you were still unable to take a standing posture at the initial stage of training, you were unable to train.
2) Since the entire foot was not moved up and down only by the back and forth movement of the footrest and the vertical movement of the rear part (heel part), it was not a true walking movement.
3) Walking motion is not only movement of both lower limbs, but arm swinging is also an important factor, but this training was not possible in the conventional example.
4) All were transfer training from the device side to the patient and the patient's intention to walk was not reflected.
5) The patient's limbs are held by a supporter suspended from the ceiling, and both feet are fixed to each footrest, which is a large-scale device and has a problem of installation space.
6) When a patient loses balance during training, the suspended supporter puts a load on the patient's crotch, and the training becomes painful.
In Patent Document 2,
1) No training other than lying down.
2) Walking motion is not only the movement of both lower limbs, but arm swinging is also an important factor, but this training was not possible in the conventional example.
3) It was all passive training from the device side to the patient, and the patient's intention to walk was not reflected.
There was a drawback.
Therefore, the object of the present invention is to solve these drawbacks, and can be changed between the supine position, the oblique position, the sitting position, the standing position and the training position according to the patient's symptoms. Can move the same movements as the walking movement to the legs, and also unit the units necessary for walking training on a movable carriage, can also swing the arm when standing, and the patient turns the grip of the arm swinging unit Depending on the patient's intention, walking recovery training can be performed in a standing position by moving the treadmill through the thigh arm and lower leg arm by pushing the arm movable instruction push button switch. And a walking training apparatus and a walking unit capable of efficiently performing rehabilitation support.

In order to solve the above-mentioned problem, a walking training apparatus according to claim 1 includes a thigh arm that moves the thigh, a crus arm that moves the thigh, a thigh splint that holds the thigh and transmits the movement of the thigh arm to the thigh, A lower leg splint that holds the lower leg and conveys the movement of the lower leg arm to the lower leg, a sling seat on which the patient is seated, a seat that supports the patient's body, and the femoral arm, lower leg arm, thigh splint, lower leg splint, swivel seat A swiveling unit, a thigh arm, a lower leg arm, a thigh splint, a crus splint, a seat, a lifting unit that lifts and lowers the swiveling unit, and an operation panel that displays and inputs the number of exercises or a training speed. And the elevating unit can change the training position to any one of the lying position, the oblique position, the sitting position and the standing position. .
The invention of the walking unit according to claim 2 includes a treadmill, a sensor for positioning when the patient is transferred onto the treadmill, an arm swinging unit that assists in recovery of the walking arm swing and walking rhythm of the patient, and the arm. It is characterized by comprising a cart equipped with a vertical mechanism that adjusts the swing unit to the height difference of the patient, and a lifter on which the treadmill, the positioning sensor, the arm swing unit, and the vertical mechanism can be mounted and manually moved up and down.

According to a third aspect of the present invention, in the walking unit according to the second aspect, an arcuate frame, a grip attached to the surface of the arcuate frame, and an elbow rest pad attached to a portion of the grip where the patient's elbow is placed A select switch for selecting an operation mode attached to the arm movable instruction pushbutton switch attached to the inner side surface of the grip, an arc-shaped pipe attached to the outer periphery of the grip, and a center of the arc-shaped frame; A variable resistor that sets the arm swing angle, an indicator light that indicates that the set arm swing angle has been reached, an emergency stop switch, a linear rail and linear guide that are attached to the inside of the arcuate frame, An attached rack, a gear meshing with the rack, a variable resistor coupled to the gear, and two constant tension springs attached to the linear guide; The spring bearing to hold the the constant tension spring and having two.
According to a fourth aspect of the present invention, in the walking unit according to the second or third aspect, when the arm swing unit is turned to the left, a constant tension spring that tries to return with a constant tension to the right works and turns to the right. It is characterized by a constant tension spring that tries to return to the left with a constant tension.
According to a fifth aspect of the present invention, in the walking unit according to any one of the second to fourth aspects, the treadmill is continuously moved at a predetermined walking rhythm by pressing the treadmill movable instruction push button switch. It is characterized by operation.
According to a sixth aspect of the present invention, in the walking unit according to any one of the second to fifth aspects, the treadmill operates at a predetermined walking rhythm by pressing the treadmill movable instruction pushbutton switch, When the treadmill movable instruction push button switch is pressed, the treadmill is repeatedly operated in a predetermined walking rhythm.

The invention according to claim 7 is the walking unit according to any one of claims 2 to 6, wherein the variable resistor coupled to the gear meshing with the arc-shaped rack is turned by turning the grip. When the resistance value of the variable resistor becomes the same as the set resistance value of the variable resistor that sets the arm swing angle, the treadmill is continuously operated at a predetermined walking rhythm. .
According to an eighth aspect of the present invention, in the walking unit according to any one of the second to sixth aspects, the variable resistor coupled to the gear meshing with the arc-shaped rack is turned by turning the grip. When the resistance value of this variable resistor becomes the same as the set resistance value of the variable resistor that sets the arm swing angle, the treadmill operates one step at a predetermined walking rhythm, and further the grip of the arm swing unit When the variable resistor connected to the gear that meshes with the arc-shaped rack is turned to the opposite side and the resistance value becomes the same as the set resistance value of the variable resistor that sets the arm swing angle, The treadmill is repeatedly operated with a predetermined walking rhythm.
A ninth aspect of the invention is characterized in that, in the walking training apparatus according to the first aspect, the walking unit according to any one of the second to eighth aspects can be coupled during standing walking training.
A tenth aspect of the present invention is the gait training apparatus according to the ninth aspect, wherein the thigh arm or the crus arm continuously operates at a predetermined walking rhythm by pressing the arm movable instruction push button switch. And

According to an eleventh aspect of the present invention, in the walking training apparatus according to the ninth aspect, when the arm movable instruction push button switch is pressed, one of the left and right thigh arms and the crus arm moves one step at a predetermined walking rhythm. In addition, when the arm movable instruction push button switch is pressed, the other of the left and right thigh arms and the lower leg arm is repeatedly operated with a predetermined walking rhythm.
A twelfth aspect of the present invention is the walking training device according to any one of the ninth to eleventh aspects, wherein the variable resistor coupled to the gear meshing with the arc-shaped rack is obtained by turning the grip. When the resistance value of the variable resistor becomes the same as the set resistance value of the variable resistor that sets the arm swing angle, the thigh arm or the lower leg arm operates continuously at a predetermined walking rhythm. And
The invention according to claim 13 is the walking training device according to any one of claims 9 to 12, wherein the variable resistor coupled to the gear meshing with the arc-shaped rack is obtained by turning the grip. When the resistance value of the variable resistor becomes the same as the resistance value of the variable resistor that sets the arm swing angle, one of the left and right thigh arms and the lower leg arm moves one step at a predetermined walking rhythm. Further, the variable resistor connected to the gear meshing with the arcuate rack is rotated by turning the grip of the arm swing unit to the opposite side, and the resistance value of the variable resistor sets the arm swing angle. When the resistance value becomes the same as the set resistance value of the resistor, the other of the left and right thigh arms and the lower leg arm is repeatedly operated with a predetermined walking rhythm.
The invention according to claim 14 is the walking training apparatus according to any one of claims 9 to 13, wherein the base of the walking training apparatus main body is used for positioning when the walking unit and the walking training apparatus main body are combined. In accordance with the shape of the walking unit, and a cushion is attached to the front and both sides of the walking unit.
The invention according to claim 15 is the walking training device according to any one of claims 9 to 14, wherein when the leg movement due to the movement of the arm does not match the walking surface during the standing walk, the deviation is detected. In order to absorb, the left and right sprints and the arm are provided with a degree of freedom.
According to a sixteenth aspect of the present invention, in the walking training apparatus according to any one of the ninth to fifteenth aspects, the sling seat is detached from the patient's buttocks when moving from a sitting position to a standing position. It is characterized by that.

According to the present invention, training suitable for a patient's symptom can be performed by changing a training posture to a supine position, an oblique position, a sitting position, and a standing position.
The training in the standing position can be performed more suitable for rehabilitation by the patient actually walking on the treadmill.
At the time of training in the standing position, the walking rhythm can be recovered by pressing the arm movable instruction push button switch of the arm swing unit and continuously performing it with a predetermined walking rhythm.
When training in the standing position, the arm movement instruction push button switch of the arm swing unit is pushed, and the walking rhythm can be confirmed one step at a time by walking one step each time with the predetermined walking rhythm.
During training in a standing position, the walking rhythm can be recovered by turning the grip of the arm swing unit, that is, by swinging the arm while gripping the grip, and continuously performing with a predetermined walking rhythm.
When training in the standing position, swing the arm swing unit, that is, swing the arm by gripping the grip, and walk one step each time the arm is swung with the predetermined walking rhythm. Can be confirmed one step at a time.
As the sling seat moves away from the patient's limb as the posture shifts from the sitting position to the standing position, a concentrated load is not applied to the patient's crotch during the standing position, and training with less burden on the patient can be performed.

Hereinafter, a walking training apparatus according to the present invention and a walking unit used in combination with the walking training apparatus will be described in detail with reference to the drawings.
<First embodiment: walking training apparatus>
A first embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a front view of a walking training apparatus main body according to the present invention in a state where the patient is in a sitting position, FIG. 2 is a front view of the walking training apparatus main body with a part thereof cut, and FIG. 3 is a front view showing attachment of a lower leg splint. 4 is a side view of the walking training apparatus main body according to the present invention in a state where the patient is in a sitting position, FIG. 5 is a plan view of the walking training apparatus in FIG. 4, and FIG. FIG. 7 is a front view of another walking training apparatus main body according to the present invention in a training state where the patient is standing, and FIG. 8 is a diagram related to the present invention in a training state where the patient is standing. It is a front view of the partial cross section of 7 walking training apparatus main bodies.
1 to 8, 1 is a main body base, 2 is a lifting unit attached to the main body base 1, and 3 is a turning unit attached to the lifting unit 2. The swivel unit 3 includes two left and right thigh arms 4 that move the left and right thighs of the patient, two left and right thigh arms 5 that move the left and right thighs of the patient, a sling seat 6 on which the patient sits, and a seat 8 that also supports the patient. Is installed.
The left and right thigh arms 4 are respectively provided with thigh splints 9 for holding the patient's thighs, and the left and right thigh arms are respectively provided with thigh splints 10 for holding the patient's thighs. The seat 8 is provided with a limb belt 11 for fixing a patient's limb.
The operation panel 38 is attached to the main body base 1.

Therefore, the patient undergoing walking training attaches his back to the seat 8 in FIG. 4 and sits on the sling seat 6 in a sitting position. Then, the left and right thighs and lower legs are held by the left and right thigh splints 9 and the lower thigh splints 10, and the upper body is held by the limb body belt 11.
Walking training is performed in the postures of supine position, oblique position (FIG. 6), sitting position (FIGS. 1, 4, and 5), and standing position (FIG. 8) depending on the symptoms of the patient. In general, when the patient's symptoms improve, the training posture shifts from the supine position to the oblique position or sitting position, and from the oblique position or sitting position to the standing position.
In order to take a lying position, the patient's thigh, lower leg, and upper body are held, and then lifted from the state shown in FIG. 1 by the lifting unit 2 and swiveled clockwise by the swivel unit 3. By driving the arm 4 and the lower leg arm 5 to straighten the legs of the patient, the posture of the prone position is obtained.
After that, walking training is performed by cooperative operation of the thigh arm 4 and the lower leg arm 5 in accordance with a walking pattern input in advance.
The walking pattern can be changed in step length, time, number of times and the like by the operation panel 38 depending on the condition of the patient on the day.
In the conventional apparatus shown in Patent Document 1, training cannot be performed if the standing posture cannot be obtained at the initial stage of training, but in the present invention, after holding the patient's thigh, lower leg, and upper body in this way, From the state shown in FIG. 1, the elevator unit 2 is raised, and the turning unit 3 is turned 90 degrees clockwise, and after turning, the femoral arm 4 and the lower leg arm 5 are driven to straighten the patient's leg. Therefore, walking training can be performed in this state.
In addition to gait training, there are also flexing motions that match the patient's symptoms (operations that simultaneously flex and extend the knee joint and hip joint) and SLR (Stright Leg Raising) motions (the motion that flexes the hip joint while keeping the knee extended). It can be carried out.
When the emergency stop switch 44 is pressed, the apparatus is stopped, the PT call indicator light 39 at the upper part of the operation panel 38 is turned on, and a buzzer sounds to notify the surroundings.

In the conventional apparatus shown in Patent Documents 1 and 2, training in an oblique posture was not possible, but in the present invention, in the oblique posture of FIG. 6, after holding the patient's thigh, lower leg, and upper body, From the state of FIG. 1, the ascending unit 2 ascends and the turning unit 3 turns to an oblique angle according to the patient's symptoms. After turning, the thigh arm 4 and the lower thigh arm 5 are driven to straighten the patient's leg. Similar to the posture of the prone position, the walking training can be performed in this state by the cooperative operation of the thigh arm 4 and the lower leg arm 5 according to the walking pattern input in advance.
The walking pattern can be changed in step length, time, number of times and the like by the operation panel 38 depending on the condition of the patient on the day. In addition to walking training, bending motion and SLR motion matching the patient's symptoms can also be performed.

In the conventional apparatus shown in Patent Document 2, training in a standing posture was not possible. In the present invention, in the standing posture of FIG. 8, after holding the patient's thigh, lower leg, and upper body, Ascending by the elevating unit 2 from the state 1 to drive the thigh arm 4 and the crus arm 5 to straighten the patient's leg. The walking training in this case can be performed in this state by combining the walking unit 12 (FIG. 9) which is another unit according to the second embodiment of the present invention. (Fig. 17)
The walking unit 12 shown in FIG. 9 is used by inserting the walking unit 12 into a U-shaped groove of the main body base 1. Since cushions 13 and 14 (FIGS. 9 to 13) are placed in front and both sides of the walking unit 12, easy alignment with the main body and prevention of scratches are achieved.

<Second embodiment: walking unit>
Next, a walking unit 12 according to a second embodiment of the invention will be described with reference to FIGS.
9-12 is a figure explaining the walking unit which concerns on the 2nd Embodiment of this invention, FIG. 9 is a front view of the raising position of a walking unit, FIG. 10 is a front view of the lowered position,
FIG. 11 is a side view thereof, and FIG. 12 is a plan view thereof.
9 to 12, 12 is a walking unit, 13 and 14 are cushions, 15 is a carriage, 16 is a treadmill, 17 is a stand, 18 is a sensor, 19 is a vertical mechanism, 20 is an arm swing unit, 21 is a frame, 22 is a grip, 23 is a pipe, 24 is an arm movable instruction push button switch (FIG. 11), 24 ′ is a treadmill movable instruction push button switch (FIG. 11), 25 is a panel, and 26 is an operation mode selection switch (FIG. 12). 27 is an angle setting variable resistor (FIG. 12), 28 is an indicator lamp (FIG. 12), 29 is an emergency stop switch (FIG. 12), 37 is a moving / lifting handle (FIGS. 9 to 11), and 40 is Parallel links (FIGS. 9 to 10), 41 is a gas spring, 42 is a stopper (FIGS. 9 to 10), 43 is a wedge (FIGS. 9 to 11), and 45 is an elbow rest pad.
FIGS. 13 to 16 are diagrams for explaining the arm swing unit, FIG. 13 is an internal plan view of the arm swing unit constituting the walking training apparatus, and FIG. 14 is an AA view of FIG. Is an internal plan view when the arm swing unit of FIG. 13 is turned to the left, and FIG. 16 is an internal plan view when the arm swing unit of FIG. 13 is turned to the right.
13 to 16, 30 is a linear rail, 31 is a linear guide, 32 is a rack, 33 is a gear, 34 is a variable resistor, 35 is a constant tension spring, and 36 is a spring receiver.

The walking unit 12 includes a treadmill 16 and a stand 17 mounted on a cart 15 that can move and move up and down. Further, a sensor 18 is attached to the treadmill 16, and an arc-shaped arm is attached to the stand 17 via an up-and-down mechanism 19. A swing unit 20 is attached.
The arm swinging unit 20 has a grip 22 that is gripped by the arc-shaped frame 21 when the patient swings the arm, and has a pipe 23 on the outer periphery thereof for assisting the patient in swinging the arm.
On the grip 22, an arm movable instruction push button switch 24 and a treadmill movable instruction push button switch 24 ′ are respectively installed at two left and right positions. There is a panel 25 at the center of the left and right grips 22. The panel 25 has an operation mode selection switch 26 for selecting an operation mode, an angle setting variable resistor 27 for determining an arm swing angle, and an arm up to a set arm swing angle. An indicator lamp 28 that is lit when shaken and an emergency stop switch 29 are attached.
An arc-shaped linear rail 30 is attached to the inside of the frame 21. The linear rail 30 meshes with a linear guide 31 attached to the vertical mechanism 19 together with the frame 21 and moves in an arc shape. A rack 32 is attached to the linear rail 30, and a gear 33 is engaged with the rack 32. A variable resistor 34 is connected to the gear 33.
Since the variable resistor 34 is connected to the gear 33, when the patient swivels the arm 22 with the grip 22, the gear 33 is rotated via the rack 32 to change the resistance value of the variable resistor 34. Let
Further, the linear guide 31 has a spring end of a constant tension spring 35 having a substantially constant spring pressure attached at a symmetrical position, and the main body of the constant tension spring 35 has the same curvature as the linear rail 30 of the spring receiver 36 attached to the frame 21. One is placed in each of the grooves formed.
When the patient grips the grip 22 and pivots it to the left, the spring end of the left constant tension spring 35 is attached to the linear guide 31 and the spring is stretched to return to the center.
Since the right constant tension spring 35 has its spring end attached to the linear guide 31 and moves along the groove of the spring receiver 36, no spring pressure is applied.
On the other hand, when it is turned to the right, the spring pressure of the right constant tension spring 35 is applied, and the left constant tension spring 35 is not applied.
When swung, a force is applied to return the arm swing unit 20 to the center by the spring pressure of the left and right constant tension springs 35. The spring pressure is set to be approximately the same as the operating force of the arm swing unit 20. When swinging the arm, the burden on the patient is reduced.

FIG. 17 is a front view of a state in which the walking training apparatus main body (FIG. 1) according to the first embodiment and the walking unit (FIG. 9) according to the second embodiment are combined during standing training.
After the walking unit 12 is inserted into the walking training apparatus main body of FIG. 1, the lifting unit 2 is lowered and stops when the patient's foot hits the sensor 18. Next, the elevating unit 2 is moved by a manual fine speed operation, and the carriage 15 is further raised by the moving / elevating handle 37 so that the patient stands on the treadmill 16.
The patient standing on the treadmill 16 holds the grip 22 of the arm swing unit 20. The walking training by standing is operated by two walking patterns selected by the operation mode selection switch 26.
One is that when the arm movement instruction push button switch 24 is pressed, the thigh arm 4 and the lower leg arm 5 cooperate in a predetermined walking rhythm for one step on either the left or right leg. For one step, the thigh arm 4 and the lower leg arm 5 cooperate in a predetermined walking rhythm. Patients can train while confirming a single step.
When the switch 24 is pressed, another gait pattern operates with a gait rhythm that matches the patient input in advance. The patient is notified of the stepping of the foot by turning on the indicator light 28. The patient can step his / her foot in accordance with the movement of the arm by turning on the indicator light 28. Both of the two walking patterns can be adjusted on the operation panel 38 by shortening the stride or slowing the speed depending on the condition of the patient on the day.
Further, by pressing the treadmill movable instruction push button switch 24 ', the treadmill 16 starts to operate continuously at a predetermined walking rhythm. Alternatively, when the treadmill movable instruction push button switch 24 ′ is pressed, the treadmill 16 operates at a predetermined walking rhythm, and when the treadmill movable instruction push button switch 24 ′ is further pressed, the treadmill 16 is moved to the predetermined walking rhythm. It is also possible to repeat the operation in
There are two methods for starting standing walking: a method using the arm movable instruction push button switch 24 and a method using the variable resistor 34.
The walking training by the variable resistor 34 is the same as the method by the arm movable instruction push button switch 24. One is to turn the arm swing unit 20 with the grip 22 and when the resistance value of the variable resistor 34 becomes the same as the set resistance value of the variable resistor 27 for setting the arm swing angle, the indicator light on the panel 25 is displayed. 28 lights up to notify the patient of the end of arm swing, and the thigh arm 4 and the lower leg arm 5 start to operate at a predetermined walking rhythm for one step on either the left or right leg.
When the patient confirms that the indicator lamp 28 is turned on, the arm swing unit 20 is turned in the reverse direction, and when the resistance value of the variable resistor 34 becomes the same as the set resistance value of the variable resistor 27 that sets the arm swing angle, the indicator lamp 28 is turned on, and the thigh arm 4 and the lower leg arm 5 operate at a predetermined walking rhythm in the next step. The patient can practice while checking the arm swing and walking rhythm one step at a time.

The other is to turn the arm swing unit 20 with the grip 22 and when the resistance value of the variable resistor 34 is the same as the set resistance value of the variable resistor 27 for setting the arm swing angle, A gait pattern suitable for the patient operates.
In both cases, the operation panel 38 can be adjusted to shorten the stride or to reduce the speed depending on the condition of the patient.
In addition, the patient's weight is received by the sling seat 6 and the left and right thigh splints 9 in the sitting position, but as the posture becomes the standing position, the sling sheet 6 comes off the patient's limbs and the left and right thigh splints. 9 and left and right lower leg sprints 10, so that there is no burden on the patient's crotch.
The arm swing unit 20 can be moved up and down by an up-and-down mechanism 19 in order to cope with a patient's height difference.
The vertical movement of the vertical mechanism 19 is performed by the parallel link 40.

The arm swing unit 20 is supported by a gas spring 41 having a thrust slightly smaller than its mass. The lower position is fixed by hitting the stopper 42 by the mass of the arm swing unit 20. Since the arm swing unit 20 is supported by the gas spring 41 in the upper position, it moves if it is lifted lightly. Therefore, the wedge 43 can be inserted between the stopper 42 and the parallel link 40 and fixed.
When the patient feels unwell during training, pressing the emergency stop switch 29 on the panel 25 stops the apparatus and a buzzer sounds to inform the surroundings.

In FIG. 17, during standing walking training, there are cases where the movement of the legs does not match the walking surface of the treadmill 16 (FIG. 9). In this case, as shown in FIG. By providing a clearance t in three directions at the attachment portion of the lower leg splint 10, it is possible to cope with it.
Also, when the patient feels unwell during training, pressing the emergency stop switch 29 (FIG. 12) on the panel 25 or the emergency stop switch 44 (FIG. 1) connected to the curl cord will stop the device. Then, the PT call indicator light 39 at the upper part of the operation panel 38 is turned on, and a buzzer sound is emitted to notify the surroundings.

As described above, according to the first embodiment of the present invention, training suitable for the patient's symptoms can be performed by changing the training posture to the supine position, the oblique position, the sitting position, and the standing position.
The training in the standing position can be performed more suitable for rehabilitation by the patient actually walking on the treadmill.
At the time of training in the standing position, the walking rhythm can be recovered by pressing the arm movable instruction push button switch of the arm swing unit and continuously performing it with a predetermined walking rhythm.
When training in the standing position, the arm movement instruction push button switch of the arm swing unit is pushed, and the walking rhythm can be confirmed one step at a time by walking one step each time with the predetermined walking rhythm.
During training in a standing position, the walking rhythm can be recovered by turning the grip of the arm swing unit, that is, by swinging the arm while gripping the grip, and continuously performing with a predetermined walking rhythm.
When training in the standing position, swing the arm swing unit, that is, swing the arm by gripping the grip, and walk one step each time the arm is swung with the predetermined walking rhythm. Can be confirmed one step at a time.
As the sling seat moves away from the patient's limb as the posture shifts from the sitting position to the standing position, a concentrated load is not applied to the patient's crotch during the standing position, and training with less burden on the patient can be performed.

It is a front view of the walking training apparatus which shows embodiment of this invention. It is the front view which sectioned a part of walk training device in which an embodiment of the present invention was shown. It is a front view which shows the principal part (crus splint attachment part) in embodiment of this invention. It is a side view of a walking training device showing an embodiment of the present invention. It is a top view of the walking training apparatus which shows embodiment of this invention. It is a front view of the walking training apparatus which shows another embodiment of this invention. It is a front view of another gait training device main part concerning the present invention in the training state where a patient is standing. It is a front view of the partial cross section of the walking training apparatus which shows another embodiment of this invention. It is a front view of the raise position of the walking unit which shows embodiment of this invention. It is a front view of the lowered position of the walking unit which shows embodiment of this invention. It is a side view of the walking unit which shows embodiment of this invention. It is a top view of the walking unit which shows embodiment of this invention. It is an internal top view which shows the principal part (arm swing unit) in embodiment of this invention. It is an internal sectional view showing the important section (arm swing unit) in an embodiment of the present invention. It is an internal top view which shows the left turn of the principal part (arm swing unit) in embodiment of this invention. It is an internal top view which shows right turn of the principal part (arm swing unit) in embodiment of this invention. It is a combination front view of the walking training apparatus and walking unit which show embodiment of this invention. It is a side view of the conventional training apparatus shown in patent document 1. It is a top view of the conventional training apparatus of FIG. 18 shown in patent document 1. FIG. It is drawing of the conventional training apparatus shown in patent document 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body base 2 Lifting unit 3 Turning unit 4 Thigh arm 5 Lower leg arm 6 Sling seat 8 Seat 9 Thigh splint 10 Lower leg splint 11 Limb body belt 12 Walking unit 13 Cushion 14 Cushion 15 Cart 16 Treadmill 17 Stand 18 Sensor 19 Vertical mechanism 20 Arm swing unit 21 Frame 22 Grip 23 Pipe 24 Arm movable instruction push button switch 24 'Treadmill movable instruction push button switch 25 Panel 26 Operation mode selection switch 27 Variable resistor 28 for angle setting Indicator 29 Emergency stop switch 30 Linear rail 31 Linear guide 32 Rack 33 Gear 34 Variable resistor 35 Constant tension spring 36 Spring receiver 37 Moving / elevating handle 38 Operation panel 39 PT call indicator 40 Parallel link 41 Gas Pulling 42 stopper 43 the wedge 44 emergency stop switch 45 elbow pad

Claims (16)

  A thigh arm that moves the thigh; a thigh arm that moves the thigh; a thigh splint that holds the thigh and transmits the movement of the thigh arm to the thigh; and a thigh splint that holds the thigh and transmits the movement of the thigh arm to the thigh; Sling seat on which the patient sits, seat that supports the patient's body, swivel unit that pivots the thigh arm, thigh arm, thigh splint, thigh splint, and the thigh arm, thigh arm, thigh splint, thigh splint, There is a lifting unit that lifts and lowers the seat / swivel unit, and an operation panel that displays and inputs the number of exercises or training speed, etc. A walking training device that can be changed to any of the above.   A treadmill, a positioning sensor when a patient is transferred onto the treadmill, an arm swing unit for helping the patient's walking arm swing and recovery of the walking rhythm, and a vertical mechanism for adjusting the arm swing unit to the height difference of the patient A walking unit comprising a treadmill, a positioning sensor, an arm swinging unit, and a lifter on which an up-and-down mechanism can be manually mounted to raise and lower the treadmill.   An arc frame, a grip attached to the surface of the arc frame, an elbow rest pad attached to a portion of the grip where the patient's elbow is placed, and an arm movable instruction push button switch attached to the inner side surface of the grip A treadmill movable instruction push button switch, an arc-shaped pipe attached to the outer periphery of the grip, and a select switch for selecting an operation mode and a variable resistor for setting an arm swing angle, which are attached to the center of the arc-shaped frame.・ Indicating that the set arm swing angle has been reached, an emergency stop switch, a linear rail and linear guide attached to the inside of the arc frame, a rack attached to the linear rail, and the rack A gear, a variable resistor coupled to the gear, two constant tension springs attached to the linear guide, and the constant tension spring Walking unit according to claim 2, characterized in that it has two spring bearing to hold the.   When the arm swing unit is turned to the left, a constant tension spring that tries to return to the right with a constant tension works, and when it turns to the right, a constant tension spring that tries to return to the left with a constant tension works. The walking unit according to claim 2 or 3.   The walking unit according to any one of claims 2 to 4, wherein the treadmill continuously operates at a predetermined walking rhythm by pressing the treadmill movable instruction push button switch.   When the treadmill movable instruction push button switch is pressed, the treadmill operates at a predetermined walking rhythm, and when the treadmill movable instruction push button switch is further pressed, the treadmill operates at a predetermined walking rhythm. These steps are repeated, The walking unit according to any one of claims 2 to 5.   By turning the grip, the variable resistor coupled with the gear meshing with the arc-shaped rack is turned, and the resistance value of the variable resistor is the same as the set resistance value of the variable resistor for setting the arm swing angle. The walking unit according to any one of claims 2 to 6, wherein the treadmill continuously operates at a predetermined walking rhythm when the time becomes.   By turning the grip, the variable resistor connected to the gear meshing with the arc-shaped rack is turned, and the resistance value of the variable resistor is the same as the set resistance value of the variable resistor for setting the arm swing angle. When the treadmill moves, the treadmill operates one step at a predetermined walking rhythm, and the variable resistor connected to the gear that meshes with the arcuate rack by turning the grip of the arm swing unit to the opposite side is turned. 7. When the resistance value becomes the same as the set resistance value of the variable resistor for setting the arm swing angle, the treadmill repeatedly operates at a predetermined walking rhythm. The walking unit according to any one of claims.   The walking training apparatus according to claim 1, wherein the walking unit according to any one of claims 2 to 8 can be coupled during standing walking training.   The walking training apparatus according to claim 9, wherein the thigh arm or the lower leg arm continuously operates at a predetermined walking rhythm by pressing the arm movement instruction push button switch.   By pressing the arm movable instruction push button switch, either one of the left and right thigh arms or the lower leg arm moves one step at a predetermined walking rhythm, and when the arm movable instruction push button switch is pressed, The walking training apparatus according to claim 9, wherein the other of the thigh arm and the lower leg arm repeatedly operates with a predetermined walking rhythm.   By turning the grip, the variable resistor connected to the gear meshing with the arc-shaped rack is turned, and the resistance value of the variable resistor is the same as the set resistance value of the variable resistor that sets the arm swing angle The walking training device according to any one of claims 9 to 11, wherein the thigh arm or the lower thigh arm continuously moves at a predetermined walking rhythm when the time becomes.   By turning the grip, the variable resistor connected to the gear meshing with the arc-shaped rack is turned, and the resistance value of the variable resistor is the same as the set resistance value of the variable resistor that sets the arm swing angle When one of the left and right thigh arms and the lower leg arm moves one step at a predetermined walking rhythm, and the grip of the arm swing unit is turned to the opposite side to engage with the arc-shaped rack, When the combined variable resistor is turned and the resistance value of the variable resistor becomes the same as the set resistance value of the variable resistor that sets the arm swing angle, the other of the left and right thigh arms and the lower leg arm is predetermined. The gait training device according to claim 9, wherein the gait training device repeats the operation with the walking rhythm.   For positioning when the walking unit and the walking training apparatus main body are combined, the base of the walking training apparatus main body is formed in a U shape in accordance with the shape of the walking unit, and cushioned in front and both sides of the walking unit. The walking training apparatus according to claim 9, wherein the walking training apparatus is attached.   When standing while walking, when the movement of the leg due to the movement of the arm does not match the walking surface, in order to absorb the deviation, the left and right sprints and the attachment of the arm have a degree of freedom. The walking training apparatus according to any one of claims 9 to 14.   The gait training device according to any one of claims 9 to 15, wherein the sling seat is detached from a patient's buttocks when moving from a sitting posture to a standing posture.

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