JP2005296389A - Walk training device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safe and low-cost walk training device which can be used at home and can perform a vertical movement aiding the walking of a person. <P>SOLUTION: The device is equipped with a driving motor 11 arranged on a base stand 2, a side frame 4 erected upward from one side of the base stand 2 on this driving motor 11 side, a rotary shaft 5 horizontally supported at the nearly center part of this side frame 4, first and second sprockets 6, 7 fixed to both ends of this rotary shaft 5, a plurality of guide rods 8 erected on one side of the side frame 4, and a pair of lift blocks 10 connected to this guide rod 8 via a linear motion bearing 9. The first sprocket 6 and the motor shaft 11a of the driving motor 11 are spanned with a chain 14, and the second sprocket 7 and the lift block 10 with a chain 15. The lift block 10 is vertically moved by forward/reverse rotation of the driving motor 11 via the first and second sprockets 6, 7. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a walking training apparatus that performs training for recovery of walking function.

  In recent years, the need for training to improve, restore, and maintain walking function is increasing for people who have become older and have weakened leg strength, or who have impaired walking function due to illness or accident. . Training and rehabilitation for restoring walking function to such people are important, and there are walking training devices as the main means.

  As a conventional walking training apparatus, there is a so-called treadmill having a walking part provided with an endless track belt. In this gait training device, some endless track belts are separated for the right foot and left foot of the trainee, and the left and right endless track belts are driven separately at different speeds, even in patients with one leg paralysis Keep pace with the speed of the endless track belt and perform walking training while standing.

  However, in such a gait training device, the endless track belt can only move at a set constant speed, so it is meaningful for the trainee to perform gait training at a constant pace to improve muscle strength, It is not sufficient to perform so-called fall prevention training or the like in which the trainee himself corrects the disturbance of the pace.

  As a solution to such a problem, a walking training apparatus as shown in FIGS. 16 and 17 is known. This walking training device 51 is provided with an endless track belt 52, a walking unit 60 on which the trainee performs walking training on the endless track belt 52, a drive unit 53 that drives the endless track belt 52, and a drive unit 53. And a control unit 54 for adjusting the speed of the endless track belt 52. The control unit 54 is connected to a data input unit 55 to which data such as the speed of the endless track belt 52 and timing for changing the speed is input.

  The endless track belt 52 is separated into a trainee's right foot belt 52a and left foot belt 52b. The drive unit 53 is also divided into a right drive unit 53a and a left drive unit 53b, and is configured by an actuator such as a servo motor. Position detectors 70a and 70b such as pulse encoders are attached to the drive units 53a and 53b, respectively, and pulses are output as the drive units 53a and 53b rotate, and this pulse signal is input to the control unit 54. The control unit 54 is provided with a CPU and a counter for counting pulse signals. Based on the count data, the current rotation speed of the drive units 53a and 53b is calculated, and the endless track belts 52a and 52b are used as data input units. The control current supplied to the drive units 53a and 53b is adjusted so that the speed input from 55 is set.

Furthermore, a support belt 56 that supports the body of the trainee, a waist belt 57 is attached to the waist of the trainee, and the waist belt 57 is connected to the tip of the support belt 56. As a result, the trainee can safely perform training even if the trainee is about to fall during training, and strengthens the function (balance function) of sensory integration of the lower limb nerves of the trainee. Can perform fall prevention training.
JP 2002-336315 A

  However, since such a conventional walking training device is passive control, there is a problem that training cannot be performed unless the walking function is restored to some extent. In addition, devices that are devised to give visual stimulation to the trainee by the video unit 58 so that the trainee can perform walking training comfortably while watching the video unit 58 are also commercially available. Since the device itself is expensive, there is a problem that it can be used only in limited facilities such as hospitals, and the trainee cannot easily perform daily training at home.

  In addition, walking is a periodic motion performed throughout the body that combines swinging of the center of gravity, bending and stretching of the leg, and the motion of the foot includes front and rear, up and down, and rotational motion. Among these exercises, it is particularly difficult for people with walking disabilities to perform vertical movements. Therefore, in human walking training, it is important to assist not only the horizontal movement assistance but also the vertical movement of the legs. Based on such knowledge, the gait training apparatus according to the present invention has been developed in order to regain the whole body sensation necessary for gait through gait training.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a safe and inexpensive walking training apparatus that can be used at home and can perform up and down movements that can assist walking of a person. .

  In order to achieve such an object, the invention described in claim 1 of the present invention is arranged on a base, and has a drive unit having a drive motor, and the drive unit side of the base is directed upward from one side. A side frame standing upright, a rotary shaft supported horizontally at a substantially central portion of the side frame, first and second sprockets fixed to both ends of the rotary shaft, and the side frame A plurality of guide rods erected on one side and a pair of lifting blocks guided by the guide rods, and drive transmission means is disposed between the first sprocket and the motor shaft of the drive motor. In addition, since a drive transmission means is disposed between the second sprocket and the lifting block and the lifting block is moved up and down by forward / reverse rotation of the driving motor, a driving motor with a 100V power supply is used as power. Because it is possible to operate at home, feel free to stay at home Can be used every day, it is possible to provide a safe and inexpensive walking training apparatus. In addition, the training area can be set large, and the height of the lowermost part of the lifting block can be made extremely low, so that safe rehabilitation can be performed without giving anxiety to the trainee. it can.

  In the invention according to claim 2, since a telescopic cushioning member is interposed between the base and the lifting block, the load torque of the motor can be reduced by the restoring force of the cushioning member. The vertical movement can be made smooth.

  Preferably, as in the invention described in claim 3, if the buffer member is set so that the spring force is generated when the elevating block is below the horizontal horizontal state, the elevating block is left and right. In the descending process until the horizontal state is reached, the buffer member is not compressed, and the restoring force of the buffer member becomes a resistance and the drive motor is not loaded. Therefore, the load torque of the drive motor is reduced, and the vertical movement of the elevating block can be made smoother.

  In the invention according to claim 4, since a footrest is placed on the lifting block and an elastic member is interposed between the footrest and the lifting block, the footrest can be freely tilted, and the toes It is easy to move weight between and between. Accordingly, not only the vertical motion but also the forward / backward motion can be obtained, and the trainee can step forward and train using the ankle, increasing the elements of walking training.

  Preferably, as in the invention according to claim 5, the elastic member is disposed on the front and back sides of the toe side and the heel side, and the spring constant of the elastic member on the toe side is set smaller than that on the heel side. The reaction force between the toes and the heel can be kept uniform, and weight transfer is further facilitated.

  A walking training apparatus according to the present invention is provided on a base, and includes a drive unit having a drive motor, a side frame erected upward from one side of the base on the drive unit side, and this side A rotating shaft supported in a horizontal state at a substantially central portion of the frame, first and second sprockets fixed to both ends of the rotating shaft, and a plurality of guide bars erected on one side of the side frame And a pair of elevating blocks guided by the guide rods, a drive transmission means is disposed between the motor shafts of the first sprocket and the drive motor, and the second sprocket and the elevating block. Since a drive transmission means is arranged between them and the elevating block is moved up and down by forward and reverse rotation of the drive motor, it can be operated with a drive motor of 100V power source as motive power, so it can be easily done at home everyday. Available, safe and inexpensive walk It is possible to provide a training apparatus. In addition, the training area can be set large, and the height of the lowermost part of the lifting block can be made extremely low, so that safe rehabilitation can be performed without giving anxiety to the trainee. it can.

  A drive motor disposed on the base, a side frame erected upward from one side of the base on the drive motor side, and a rotation supported in a horizontal state at a substantially central portion of the side frame A shaft, first and second sprockets fixed to both ends of the rotating shaft, a plurality of guide bars erected on one side of the side frame, and a linear motion bearing connected to the guide bars A pair of lifting blocks, a chain is spanned between the motor shaft of the first sprocket and the driving motor, and a chain is spanned between the second sprocket and the lifting block, and the drive The elevating block was moved up and down via the first and second sprockets by forward and reverse rotation of the motor.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view showing an embodiment of a walking training apparatus according to the present invention, FIG. 2 is a front view, and FIG. 3 is a side view of FIG.

  The walking training apparatus 1 includes a drive unit 3 disposed on a base 2, a side frame 4 standing upward from one side of the base 2 on the drive unit 3 side, and the side frame. 4, a rotary shaft 5 supported horizontally at a substantially central portion, first and second sprockets 6 and 7 fixed to both ends of the rotary shaft 5, and one side frame 4 A plurality of (four) guide rods 8 and 8 and a pair of elevating blocks 10 and 10 coupled to the guide rods 8 and 8 via linear motion bearings 9 are provided.

  The drive unit 3 includes a drive motor 11 such as an AC servomotor, a drive sprocket 12 disposed at an end of the motor shaft 11 a of the drive motor 11, and a cup provided between the drive sprocket 12 and the drive motor 11. It consists of a ring 13. A chain 14 is stretched between the drive sprocket 12 and the first sprocket 6, and the rotation of the drive motor 11 is transmitted to the rotary shaft 5. A chain 15 is also passed over the second sprocket 7, and the end of the chain 15 is locked to the upper ends of the elevating blocks 10 and 10. That is, the second sprocket 7 rotates forward and backward due to forward and reverse rotation of the drive motor 11, and accordingly, the elevating blocks 10 and 10 move up and down along the guide rod 8. In addition, although the chains 14 and 15 were illustrated here as a power transmission means, it is not restricted to this, For example, a timing belt may be sufficient. By using this timing belt, it is possible to realize low noise and no lubrication of the apparatus.

  The elevating block 10 includes a slide plate 10a to which the linear motion bearing 9 is fixed, and a floor plate 10b extending horizontally from one end of the slide plate 10a. A plurality of coil springs are provided between the floor plate 10b and the base 2. A shock-absorbing member 16 is interposed. When the trainee rides on the floor board 10b, at the reference position, that is, at the position where the left and right floor boards 10b and 10b have the same height, half of the total weight is loaded on the left and right floor boards 10b and 10b, When the height difference of 10b is the maximum, that is, at the moment when the rotation direction of the drive motor 11 changes, most of the weight is loaded on the floor plate 10b that is lowered. Therefore, the torque of the drive motor 11 is most necessary at this time. Therefore, a buffer member 16 is interposed between the floor board 10b and the base 2 in order to supplement this power.

  The buffer member 16 is set to have a natural length when the floor boards 10b and 10b are at the reference position. Accordingly, the floor plates 10b and 10b are compressed when they come below the reference position, and the weight of the trainee and the lifting blocks 10 and 10 are loaded to supplement the power of the drive motor 11. If the spring constant of the buffer member 16 is large, the floor plate 10b, 10b may not be lowered and the chain 15 may be loosened when a trained person with a low weight rides. Therefore, there are a plurality of coil springs having a relatively small spring constant ( (3 on each side)

  Thus, since the buffer member 16 is interposed between the base 2 and the floor board 10b, it is possible to buffer an impact when the floor board 10b comes to the lowermost part, and a large load torque is applied to the drive motor 11. Does not occur. Therefore, a sufficient driving force can be obtained even with a motor with a 100 V power supply for general households, and the elevating block 10 can be moved up and down smoothly. Furthermore, since the buffer member 16 is set to have a natural length at the reference position of the floor plate 10b, the buffer member 16 is not compressed in the lowering process of the floor plate 10b to the reference position. The spring force of the buffer member 16 becomes a resistance and no extra load is applied to the drive motor 11, and the lifting operation of the lifting block 10 can be made smoother.

  Handrails 17 are erected upward from the left and right sides of the base 2. The handrail 17 is made of a pipe material made of duralumin or the like, and includes a pair of vertical frames 18 and 18 erected from one side of the base 2 facing the side frame 4, and upper ends of the vertical frames 18 and 18. The side frames 19 and 19 are connected in the horizontal direction, and the side frames 19 and 19 are connected to the side frames 21 through the connecting frames 20 and 20, respectively. The handrail 17 is considered to have various positions depending on the trainee, and as shown in FIGS. 2 and 3, as shown in FIGS. 2 and 3, the A part of the side frames 19, 19, the B part of the connecting frames 20, 20, and the side frame 21 It is set at three locations in part C. In a state where the trainee is supported by the handrail 17, the left and right feet can be placed on the floor boards 10 b and 10 b, respectively, and the walking training can be performed with the help of the vertical motion of the trainee's legs.

  Next, the operation of this embodiment will be described with reference to FIG. When the drive motor 11 is driven, the rotary shaft 5 rotates via the chain 14 and the first sprocket 6. Based on the principle of the fixed pulley, as shown in (a), when the rotation shaft 5 rotates to the right, the second sprocket 7 rotates in the same direction (right rotation) together with the rotation shaft 5. Then, the left and right lifting blocks 10 locked to both ends of the chain 15 move up and down in opposite directions. On the other hand, when the rotary shaft 5 rotates counterclockwise, the left and right lifting blocks 10 move up and down in the direction opposite to that when rotating clockwise as shown in FIG. In the present embodiment, since the AC servo motor is used for the drive motor 11, the rotation direction of the drive motor 11 can be appropriately changed, and the left and right floor boards 10b and 10b can be moved up and down alternately.

  The present applicant attaches strain gauge type load cells 25 (see FIG. 6) to the front and rear of the left and right floor boards 10b and 10b, measures the load applied to the left and right soles, and at the time of walking training, A position sensor is attached to each part, and the locus of each part of the body (shoulder, waist, knee, ankle) is measured, and the load applied to the left and right feet during training is measured by the floor reaction force measuring device. did. An infrared LED was used as the position sensor, and the position change of the light emitting point was photographed with a CCD camera, and the signal was input to the sensor system and displayed on the computer.

  As shown in FIG. 5, the present applicant verified the difference in training between a healthy person and a pseudo-disabled person (trainee) by fixing the knees of a healthy person with a supporter and taping. Further, as shown in FIG. 6, the foot board 22 is placed on the floor board 10 b, and the floor board 10 b and the foot board are obtained so that an appropriate ankle movement can be obtained during training as well as the vertical movement of the lifting block 10. The elastic members 23 and 24 are interposed between the elastic members 23 and 22, and the difference in training depending on the presence or absence of the elastic members 23 and 24 is verified. Reference numeral 25 denotes a load cell provided for measuring a load applied to the left and right feet.

  Next, the result of the floor reaction force by the presence or absence of the elastic members 23 and 24 interposed between the floor board 10b and the footrest 22 is shown in FIG. 7 thru | or FIG. 7 shows the result of subject B without elastic member, FIG. 8 shows the result of subject B with elastic member, FIG. 9 shows the result of subject C without elastic member, and FIG. 10 shows the result of subject C with elastic member. (A) shows the load applied to the left foot, and (b) shows the load applied to the right foot. Here, 10 subjects including young people and elderly people were selected as subjects. Table 1 shows the data of the subject.

From the test results, the following was found. That is,
1. In any subject, when the elastic members 23 and 24 are not provided, the load applied to the heel is large, and when the elastic members 23 and 24 are provided, the load applied to the toe is large.
2. The amplitude of the waveform increases at the toe portion due to the elastic members 23 and 24 being interposed, but does not change at the heel portion.
3. By interposing the elastic member, the corrugated irregularities are reduced.

  Therefore, a difference was recognized in the floor reaction force, that is, the load applied to the sole, depending on the presence or absence of the elastic members 23 and 24. This is because the footrest 22 can be tilted by interposing the elastic members 23 and 24, and thus a force can be further applied to the toe. Moreover, the unevenness of the waveform is reduced because the foot can be stepped forward by the inclination of the footrest 22 when the lifting block 10 is lowered. Therefore, by interposing the elastic members 23 and 24 between the floor board 10b and the footrest 22, weight transfer is easily performed between the toes and the heels, and not only the vertical movement but also the forward and backward movement can be obtained. The trainee can step forward and train using the ankle, increasing the elements of walking training. In the present embodiment, a coil spring having a relatively small spring constant is used for the elastic member 23 on the toe side and urethane rubber having a large spring constant is used for the elastic member 24 on the heel side due to the reaction force between the toe and the heel. . All subsequent tests were performed with the elastic members 23 and 24 interposed.

FIG. 11 is a graph showing the trajectory of each part of the human body of a healthy person and a disabled person during walking.
(A) is the shoulder, (b) is the waist, (c) is the knee, and (d) is the locus at the ankle. Here, as the test conditions, three patterns of 20, 40, and 70 mm are selected as the amplitude of the lifting block 10, and three patterns of 0.3, 0.5, and 0.7 Hz are selected as the vibration frequency. Five training patterns based on these combinations are set. The trajectory shown in FIG. 11 is verified by setting the amplitude of the lifting block 10 to 40 mm and the frequency to 0.5 Hz in this training pattern.

From the test results, the following was found. That is,
1. The trajectory of the shoulder of the disabled person has a large amount of displacement in both the X direction and the Y direction.
2. The trajectory of the healthy person's waist moves forward when the floor board 10b rises, while the handicapped person moves backward and the body is warped. Further, the displacement amount is large in both the X direction and the Y direction.
3. A healthy person's knee locus has a large amount of displacement in the X direction and a small amount of displacement in the Y direction. On the other hand, the trajectory of the handicapped person's knee showed a result opposite to that of a normal person in that the displacement amount in the X direction was small and the displacement amount in the Y direction was large.
4). Regarding the ankle trajectory, there was no significant difference between the two.

  From the above results, it can be seen that when the handicapped person walks, the knee has a locus that is almost linear, and the knee cannot be bent sufficiently and is displaced only in the Y direction. Therefore, it can be understood that walking of a person with a disability is in a state of a straight leg, and is walking close to a foot without bending the knee sufficiently. For this reason, it is considered difficult to bend the foot in accordance with the vertical movement of the lifting block 10. In the walking training apparatus according to the present invention, the recovery state can be determined by measuring the knee trajectory, and by appropriately selecting the amplitude suitable for the symptom of the trainee and moving the lifting block 10 up and down. The foot can be bent while feeling the swing of the center of gravity, which contributes to the recovery of the walking function.

12 to 15 are graphs showing the floor reaction force of a healthy person and a disabled person during walking.
In this test, in consideration of safety, the knee of the same healthy person as that of the healthy person was fixed and the subject was regarded as a pseudo-disabled person as a test subject.

  12 shows a healthy person C, FIG. 13 shows a pseudo-disabled person C, FIG. 14 shows a normal person B, and FIG. 15 shows a pseudo-disabled person B. (A) shows the load applied to the left foot, and (b) shows the load applied to the right foot. From these test results, it can be seen that the load applied to the tip of the toe is larger than that of the heel regardless of whether the subject is a healthy person or a pseudo-disabled person. Moreover, although the subject B and C do not recognize a big difference, it turns out that the unevenness | corrugation of a waveform is large in the pseudo-disabled person. This is presumably because the pseudo-disabled person cannot bend and extend the knees in a delicate manner and cannot stably ground.

  In addition, it was found that the right foot has a larger corrugated unevenness than the left foot with an obstacle, and the tendency becomes more prominent as the amplitude increases. This is thought to be because the right foot was covered so as not to put a burden on the left foot with disability. Therefore, in the walking training apparatus according to the present invention, the recovery of the efficient walking function can be promoted by gradually increasing the amplitude of the elevating block 10 and gradually applying a load due to its own weight to a leg with a disability.

  As described above, since the walking training apparatus 1 according to the present invention can be operated by the drive motor 11 of the 100V power source as power, it is possible to provide a safe and inexpensive walking training apparatus that can be easily used every day at home. it can. In addition, since it is possible to appropriately set and control the amplitude, vibration frequency, waveform, etc. of the walking assist exercise based on the exercise trajectory etc. measured and constructed in advance, it is performed efficiently under the training conditions that match the symptoms of the trainee, Recovery of walking function can be promoted. Furthermore, since it is a simple configuration, the training area can be set large, and the height of the lowest part of the lifting block can be made extremely low, so it is safe and does not give anxiety to the trainee, Comfortable rehabilitation can be performed.

  The embodiment of the present invention has been described above, but the present invention is not limited to such an embodiment, and is merely an example, and various modifications can be made without departing from the scope of the present invention. Of course, the scope of the present invention is indicated by the description of the scope of claims, and further, the equivalent meanings described in the scope of claims and all modifications within the scope of the scope of the present invention are included. Including.

  The walking training apparatus according to the present invention can be applied to a walking training apparatus capable of performing training and rehabilitation for restoring walking function at home.

1 is a perspective view showing a first embodiment of a walking training apparatus according to the present invention. It is a front view same as the above. It is a side view same as the above. It is explanatory drawing of the action | operation of the walking training apparatus which concerns on this invention, (a) is the case of a right rotation, (b) has shown the case of the left rotation, respectively. It is explanatory drawing which shows the pseudo-disabled person for considering a healthy person as a disabled person. It is a perspective view which shows the test apparatus for measuring the load concerning a right and left sole. It is a graph which shows the floor reaction force without the elastic member interposed between a floor board and a footrest, (a) shows the left foot side, (b) shows the right foot side. It is a graph which shows the floor reaction force by the elastic member interposed between a floor board and a footrest, (a) shows the left foot side, (b) shows the right foot side. It is a graph which shows the result in the other test subject of FIG. 7, (a) shows the left foot side, (b) shows the right foot side. It is a graph which shows the result in the other test subject of FIG. 8, (a) shows the left foot side, (b) shows the right foot side. It is the graph which showed the locus of each part of a human body of a healthy person and a handicapped person at the time of walking. It is the graph which showed the floor reaction force of the healthy person at the time of a walk, (a) shows the left foot side, (b) shows the right foot side. It is the graph which showed the floor reaction force of the false handicapped person at the time of walking, (a) shows the left foot side, (b) shows the right foot side. It is a graph which shows the result in the other test subject of FIG. 12, (a) shows the left foot side, (b) shows the right foot side. It is a graph which shows the result in the other test subject of FIG. 13, (a) shows the left foot side, (b) shows the right foot side. It is a whole block diagram which shows the conventional walking training apparatus. It is a block diagram of a walk part same as the above.

Explanation of symbols

1 ... Walk training device 2 ... Base 3 ... Drive unit 4 ... side frame 5 ... rotating shaft 6 ...・ First sprocket 7 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Second sprocket 8 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Guide bar 9 ・ ・ ・ ・ ・ ・ ・ ・·························································································································· ... Floor plate 11 ... Drive motor 11a ... Motor shaft 12 ... Drive Sprocket 13 ... Couplings 14, 15 ... Chain 16 ......... Buffering member 17 ......... Handrail 18 ......... Vertical frame 19 ...・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Side frame 20 ・ ・ ・ ・ ・ ・ ・ ・ Connection frame 21 ・ ・ ・ ・ ・ ・ ・ ・ Horizontal frame 22 ・ ・ ・..... Footrests 23, 24 .... Elastic member 25 ..... Load cell 51 .....・ ・ ・ ・ ・ ・ Walking training device 52 ・ ・ ・ ・ ・ ・ ・ ・ Endless track belt 52a ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Right foot belt 52b ・ ・ ・ ・ ・ ・・ ・ ・ ・ ・ Left foot belt 53 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Driver 53a ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Right drive 53b ・ ・ ・ ・ ・ ・ ・ ・... Left drive unit 54・ ・ Control part 55 ・ ・ ・ ・ ・ ・ ・ ・ Data input part 56 ・ ・ ・ ・ ・ ・ ・ ・ Assistance part 57 ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ ・・ Waist belt 60 ..... walking part 70a, 70b ..... Position detector

Claims (5)

A drive unit disposed on the base and having a drive motor;
A side frame erected upward from one side of the base on the drive unit side;
A rotating shaft supported in a horizontal state at a substantially central portion of the side frame;
First and second sprockets fixed to both ends of the rotating shaft;
A plurality of guide bars erected on one side of the side frame;
A pair of lifting blocks guided by the guide rod,
Drive transmission means is disposed between the first sprocket and the motor shaft of the drive motor, and drive transmission means is disposed between the second sprocket and the elevating block so that the drive motor rotates forward and backward. Thus, the walking training apparatus characterized in that the lifting block is moved up and down.   The walking training apparatus according to claim 1, wherein an elastic buffer member is interposed between the base and the lifting block.   The walking training device according to claim 2, wherein the buffer member is set so that the spring force is generated when the elevating block is below the horizontal horizontal state.   The walking training apparatus according to any one of claims 1 to 3, wherein a footrest is placed on the lifting block, and an elastic member is interposed between the footrest and the lifting block.   The gait training apparatus according to claim 4, wherein the elastic member is disposed in front of and behind the toe side and the heel side, and a spring constant of the elastic member on the toe side is set smaller than that of the heel side.

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