JP2007268140A - Gait training equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gait training equipment which can recover the functions of sensory receptors and a nervous system associated with the ability to walk by employing a simple constitution. <P>SOLUTION: This gait training equipment is equipped with a base 100, sole pad parts 200 and 300 which are pivoted on the base 100 via a rotating shaft 150 and attached in such a manner as to be rotatable on the rotating shaft 150, and a driving means 400 for oscillating the sole pad parts 200 and 300 within a predetermined range of angle. The sole pad parts 200 and 300 are equipped with oscillators 210, 220, 310 and 320, respectively. Vibrations are transmitted to a user's sole, which is brought into contact with the sole pad parts 200 and 300, via the oscillators 210, 220, 310 and 320. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a gait training device that is particularly suitable for achieving functional recovery related to walking ability of elderly people.

  Human gait consists of lower limb muscle output and feedback from somatosensory sensations, vision, and sensory receptors such as the vestibular system. It is also known that the central nerve is provided with a movement pattern generator for achieving rhythmical walking, and that a normal walking pattern is induced thereby, and correct walking is performed. For this reason, a decrease in muscle strength and a decrease in sensory organ function associated with aging are factors that reduce walking ability. FIG. 23 shows changes in physical strength with aging. The figure shows that muscle strength decreases with age, and that balance ability decreases more rapidly. As shown in FIG. 24, the balance ability described here takes external information through sensory organs (vestibular system, vision, somatic sensation), integrates information within the central nervous system, and finally integrates the body. A series of functions for driving muscles to keep them in an optimal state is described generically. It is considered that the cause of the decrease in balance ability is due to a decrease in the activity of the somatic sensation and the neural circuit that lead to muscle output more than the decrease in muscle mass.

As shown in the figure, the somatosensory sensation described above can be classified into two types: skin receptors and deep receptors. Among them, the pachinko body that detects skin receptor pressure greatly contributes to maintaining balance by detecting the center-of-gravity sway in the standing posture based on the pressure distribution on the soles. In particular, it is known that balance is maintained by calculating the pressure difference of the sole that occurs when the body tilts forward and backward. These pachinko bodies and the like play an important role in recognizing the pressure distribution at the time of landing of the foot even during walking and making the frequency of stepping during walking appropriate.
A neural circuit for the ability to walk is working, in which these inputs enter the central nerve via afferent nerve fibers, and commands from there are output to the muscle via the efferent nerve.

  Elderly people are known to be less sensitive to the sensitivity of this baroreceptor and deep receptor and the fascinating nature of the neural circuit that leads to it, and recognize the state of their posture in the state where fascination is slow It is said that it is impossible to perform or the frequency of stepping cannot be recognized, which leads to a decrease in balance ability and walking ability, and increases the risk of falls and fractures. Furthermore, when the user is bedridden or does not walk for a long period of time, as described above, the processing function from the sensory organs to the central nervous circuit is reduced with a decrease in muscle strength. As a result, when trying to walk again, there is a problem that long-term rehabilitation is forced.

  In addition, a device for reducing the risk of such a fall or fracture as much as possible is known. Specifically, an ankle / toe exercise health device is known in which the range of motion of the ankle joint is expanded by forcibly moving the ankle joint of an elderly person or the like (see, for example, Patent Document 1).

  The ankle / toe exercise health device described in Patent Document 1 fixes the foot to the movable plate, repeats the exercise of bending and extending the toe toward the instep while bending the ankle back and forth, and the arch of the foot by the protrusion. By stimulating, it aims to improve blood circulation, strengthen internal organs function and promote health.

  On the other hand, a walking training device is also known that performs walking training while standing when performing walking training for a person with weak legs such as an elderly person (see, for example, Patent Document 2).

This gait trainer is a crane that reduces the weight applied to the foot during walking by suspending a belt wrapped around the user's belly from above the moving belt consisting of an endless belt for the user to walk. It has a cantilevered frame.
JP 2002-143269 A (page 2-3, FIG. 1) JP-A-10-179559 (page 2-3, FIG. 1)

  The ankle / toe exercise health device described in Patent Document 1 is not a gait training device, but it is possible to increase the flexibility of the joint. Certainly, it is one of the effective means to widen the range of motion in walking training. In addition, by exercising the ankle joint, it is possible to stimulate the muscle spindle and Golgi tendon organ, which are deep receptors.

  However, in order to facilitate the neural circuit related to walking, which is the most important and effective point for improving walking ability, it is important how to transmit information on pressure from the sole, which is a skin receptor. Therefore, in walking training, it is considered useful to apply an appropriate load to the sole as in normal walking, but such an ankle and toe exercise health device should be used in a sitting or lying position. However, an appropriate load cannot be applied to the sole of the foot, and a neural circuit related to walking cannot be promoted.

  In addition, when such an ankle / toe exercise health device can be used while standing, a large amount of power and drive torque for lifting the weight is required to swing the foot, and the device These members must also be strong enough to withstand the weight of the user, each component becomes large, and the device itself becomes large.

  In addition, when walking training is performed on a person with weak legs such as an elderly person, if walking training is performed for a long time while standing suddenly, a burden is placed on the body, which is not preferable.

  On the other hand, in the walking training device described in Patent Document 2, the user's body is suspended by a crane-like cantilever frame to walk on the treadmill for training. With such a walking training device, even elderly people with weak legs can be trained while standing, and an appropriate load can be applied to the soles. However, when trying to use such a large-scale device that suspends the user's body to perform walking training, various problems such as cost, installation space, and transportation arise.

  On the other hand, in recent years, for the prevention of falls during walking, strength training using training equipment installed in fitness clubs and the like has been actively conducted, but this strength training alone only helps to improve muscle strength. It is difficult to fundamentally solve the problems peculiar to the present invention by activating sensory receptors that control walking ability and the nervous system to realize functional recovery.

  An object of the present invention is to provide a sensory receptor relating to walking ability and a walking training device capable of recovering the function of the nervous system with a simple configuration.

In order to solve the above-described problem, the walking training device according to the present invention is:
The base,
In a walking training device provided with a sole support portion that is pivotally supported on the base via a rotation shaft and attached to be rotatable about the rotation shaft.
A vibrator is provided in the sole part, and vibration is transmitted to the sole of the user in contact with the sole part through the vibrator.

  According to the walking training device of the present invention, the foot sole is vibrated while swinging the foot during walking training, so in addition to the motion simulating the bending and stretching of the ankle joint performed during walking, the illusion of standing Such a pseudo load can be transmitted by vibration. For humans, the detection of the load from the sole by the baroreceptor on the sole of the foot plays an important role as one of means for recognizing a standing posture or a walking state. Therefore, by applying this pseudo load to the sole of the foot, the illusion that the patient is in a standing or lying position is made illusion, thereby improving the activity of the neural circuit relating to the baroreceptor on the sole and walking. It is possible to carry out effective walking training.

  In addition, because it is similar to the movement of the ankle when walking, and a pseudo load is applied from the sole, the load information from the sole is transmitted to the movement pattern generator provided in the central nerve to achieve rhythmic walking. Thus, a normal gait pattern can be induced by recognizing the frequency of stepping by the movement of the ankle joint in the state where the standing state is illusioned and the central nerve related to movement is activated.

  That is, by applying a pseudo load to the sole, the same effect as that of standing and training while walking can be achieved. In addition, by flexing and stretching the ankle joint, the range of motion of the joint is expanded, the muscles that move the ankle joint are stimulated, and these activities are activated, so that the normal ankle joint can bend and stretch during walking. Can be triggered.

Moreover, the walking training device according to claim 2 of the present invention is the walking training device according to claim 1,
The state of the vibration is changed in conjunction with the swinging of the foot support part.

  By changing the state of vibration in conjunction with the swinging of the foot pad portion, a pseudo load equivalent to the load received in the actual walking state can be applied to the sole by vibration.

Moreover, the bathtub apparatus of Claim 3 of this invention is the walk training device of Claim 1 or Claim 2,
The foot contact portion in the state where the foot in contact with the foot contact portion is bent back most by the swinging of the foot contact portion is located at the top dead center, and the foot contact portion in the most bent state is When the position is at the bottom dead center, the vibration by the vibrator is dominant when the position of the foot pad is at least one of the top dead center side and the bottom dead center side.

  By making the vibration of the vibrator dominant at least one of the top dead center side and the bottom dead center side of the foot pad part, at the time of heel landing during actual walking and toe kicking up A pseudo load corresponding to the received load can be applied to the sole by vibration.

  In other words, the vibration transmitted by the vibrator to the sole on at least one of the top dead center side and the bottom dead center side may be strong, and the sole may be subjected to vibration at the same timing as the load received by the sole during walking. This makes it possible to perform walking training more effectively by making an illusion that a pseudo load due to vibration is standing on the central nerve and the neural circuit leading to it.

  Further, the top dead center and the bottom dead center mentioned here correspond to the time of landing on the heel or toe kick during walking, and usually a load is applied to the sole at this timing during walking. Therefore, since a pseudo load due to vibration is applied at this timing, a load is applied to the sole of the elderly as well as a person walking with a foot as if walking normally, and normal walking Since the movement of the ankle joint similar to the pattern and the pseudo load pattern on the sole can be given, the frequency of the stepping can be recognized, and the normal walking pattern can be induced in the movement pattern generator.

Moreover, the walking training device according to claim 4 of the present invention is the walking training device according to claim 3,
The vibrator is composed of a vibrator on the front side of the foot that hits the front side of the sole and a vibrator on the back side of the foot that hits the back side of the sole in a state where the sole of the user is in contact with the foot pad.
The state of vibration on the back side of the sole becomes dominant when the sole part is located on the top dead center side, and the state of vibration on the front side of the sole when the sole part is located on the bottom dead center side Is characterized by superiority.

  By configuring the vibrators with the soles on the front side and the vibrators on the back side of the feet, and setting the superiority of the vibrations of each vibrator in this way, a pseudo load closer to the shape during walking can be generated by the vibration. Give it to the back. As a result, the sole can be vibrated at the same timing as the load that the sole receives during walking, and the phantom load caused by the vibration makes the illusion of walking as if standing on the central nerve and the neural circuit leading to it, Walking training can be performed more effectively.

  In other words, by receiving vibration as a pseudo load at the same timing as the pressure that the front and back of the foot receive during walking, it is possible to make the illusion that you are grounding with a heel from the information from the sole and kicking with your fingertip Become an effective walking training.

  In addition, by switching the front and rear vibrations, it is possible to increase the activation of the sensory receptors and the facilitation of the neural circuit connected thereto.

Moreover, the walking training device according to claim 5 of the present invention is the walking training device according to claim 4,
The above-mentioned vibrator is provided with a sole positioning means that makes the front and back of the sole contact each other.

  By providing such a sole positioning means, the front part of the sole is surely brought into contact with the front vibrator of the sole support part via the positioning means, and the rear part of the sole is placed on the sole rear vibrator. Can be reliably brought into contact with each other.

Moreover, the walking training device according to claim 6 of the present invention is the walking training device according to any one of claims 1 to 5,
The foot sole part is composed of a first movable part and a second movable part movably coupled to the first movable part,
While the first movable part and the second movable part cooperate with each other via the driving means, the toes are bent and extended to the back side of the foot while causing the foot in contact with the sole support part to bend or bend, and
Each movable part is provided with a vibrator, and the vibration state of each vibrator changes according to the swing of the foot pad.

  While the toes are bent during toe kicking in walking, the joint movable range of the toes can be expanded by providing such a first movable part and a second movable part, and from the vibrator when the toes are bent By directly transmitting the vibration, the movement of the foot during actual walking can be faithfully reproduced, and walking training can be performed more effectively.

  ADVANTAGE OF THE INVENTION According to this invention, the gait training device which can aim at the functional recovery of the sensory receptor regarding a walking ability and a nervous system can be provided by giving the vibration stimulation of a special pattern to a sole with bending and extension movement of an ankle joint. .

  Specifically, according to the gait training device of the present invention, the sole feels when standing in addition to the flexion / extension movement of the ankle joint by applying vibration to the sole while swinging the foot during gait training. A pseudo load equivalent to the load is given as a vibration stimulus, and it is effective to let the user's central nervous system and the neural circuit leading to it have an illusion that it is in a standing or lying position with this pseudo load. Realize walking training.

  Hereinafter, a walking training device according to a first embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the walking training device 1 according to the first embodiment of the present invention is supported by a base 100 and one of the bases 100 via a rotation shaft 150. While having the sole contact part 200,300 attached so that rotation was possible centering on the moving shaft 150, and the drive part 400 which rocks the sole support part 200,300 by a predetermined angle, the sole support part 200,300 is provided. Are provided with vibrators 210, 220, 310, and 320, and vibration stimuli are applied to the soles of the users in contact with the foot pad 200, 300 via the vibrators 210, 220, 310, and 320. . 1 and 2 show the state in which the cover that covers the driving unit 400 is omitted.

  The base 100 is made of a metal such as aluminum or a resin excellent in strength and moldability. In the case of the present embodiment, the base plate 110 has a rectangular base plate 110 and support plates 120 erected on both sides of the base plate 110. 130. The support plates 120 and 130 are firmly fixed to the base plate 110 by L-shaped brackets 121 and 131 (see FIG. 2) made of metal such as aluminum. Further, an L-shaped bracket 141 for fixing a motor made of a metal such as aluminum is attached to the base plate 110 adjacent to the rear of the one support plate 120. Note that the base plate 110 and the support plates 120 and 130 may be integrally formed of resin or the like without being joined separately as described above.

  The rotation shaft 150 serves to swing a sole support 200, 300, which will be described later, in cooperation with cam plates 460, 470 of the drive unit 400, and is made of a stainless steel shaft. Each support plate 120 and 130 is pivotally supported by a bearing (not shown). In addition, a torsion spring 151 (see FIG. 2) is provided adjacent to one of the support plates 130 of the shaft-supported portion, and the foot support portions 200 and 300 are rotated so as not to be separated from the cam plates 460 and 470. The rotation range of the shaft 150 in one direction is restricted.

  The foot pad 200, 300 is made of a resin or metal having excellent strength and moldability, such as ABS (acrylonitrile, butadiene, styrene) resin, etc., and can touch the left and right foot pads of the user. It consists of a long and narrow rectangular plate having a size, and is composed of a left foot pad 200 and a right foot pad 300. In addition, on one side of the foot pad 200, 300, that is, on the upper side and the lower side of the surface opposite to the driving unit 400, there are front sole vibrators 210, 310 and sole rear vibrators 220, 320, respectively. ing. Further, the lower side of the other surface of the foot pad 200, 300 is integrally coupled with the rotation shaft 150.

  Here, the front side of the sole refers to the finger of the sole, the base of the finger, and the vicinity area thereof, and the rear side of the sole refers to the buttocks of the sole and the vicinity area thereof. More specifically, it refers to each region that constitutes a pressure distribution during walking of a healthy adult on the front side and back side of the sole.

  Further, the vibrators 210, 220, 310, and 320 disposed on the foot pad 200, 300 so as to be in contact with the front and back of the user's sole are each composed of a transducer that generates a frequency of 10 Hz to 200 Hz. ing.

  By using such a transducer as the vibrators 210, 220, 310, and 320 of the present invention, vibration is efficiently transmitted to the user's sole.

  In addition, it is not limited to using a transducer as a vibrator | oscillator, You may use the vibration motor etc. which generate | occur | produce the frequency of 10Hz-200Hz said that a human reacts.

  As shown in FIG. 2, the drive unit 400 is driven by the motor 410, the belt 420 and pulleys 431 and 432 that transmit the power of the motor 410, and the power of the motor 410 that is transmitted via the belt 420 and the pulleys 431 and 432. The rotating shaft 450 is configured to rotate, and cam plates 460 and 470 fixed to the rotating shaft 450 so as to come into contact with the upper back sides of the foot pad 200 and 300, respectively.

  As the motor 410, a brushless motor with a built-in speed reduction mechanism is used. The motor 410 is firmly fixed to the base plate 110 of the base 100 via the L-shaped bracket 141 as described above. Note that a stepping motor may be used as the motor 410 instead of the brushless motor.

  The pulleys 431 and 432 are made of aluminum or resin. One pulley 431 is fixed to the output shaft of the motor 410, and the other pulley 432 is a bearing (see FIG. 5) on the support plate 120 on the side where the motor 410 is attached. (Not shown). One end of a rotating shaft 450 made of a metal such as stainless steel (SUS) is fixed to the pulley 432 attached to the support plate 120.

  The rotation shaft 450 is rotatably supported on the upper portions of the support plates 120 and 130 via bearings (not shown). The cam plates 460 and 470 that rotate integrally with the rotating shaft 450 are disk-shaped cams made of resin or metal, and the belt 420 and the pulleys 431 and 432 to which the rotating shaft 450 is attached at eccentric positions, respectively. Rotating force is transmitted from the motor 410 via the rotating shaft 450. Then, at the same time that the sole contact portion 200 that abuts against one cam plate 460 rises, the sole portion 300 that abuts against the other cam plate 470 collapses and the sole contact portion that abuts against one cam plate 460. At the same time as 200 falls down, the foot pad 300 that comes into contact with the other cam plate 470 rises.

  The base plate 110 of the base 100 includes a pulse generator that transmits a pulse having a predetermined period to the front sole vibrators 210 and 310 and the sole rear vibrators 220 and 320, although not shown here. Provided with a control unit that controls vibration of the sole front side vibrators 210 and 310 and the sole rear side vibrators 220 and 320, such as an external AC power source connected to a pulse generator or a battery housed inside the base The vibrators 210, 220, 310, and 320 are vibrated via a DC power source.

  Moreover, the upper surface or side surface of a cover (not shown) that covers the base 100 is provided with a power switch for operating the walking training device 1 and an adjustment knob for adjusting the period and magnitude of vibration generated by each vibrator. Yes. In addition, instead of providing such a power switch and an adjustment knob in the housing itself, the walking training device 1 can be operated in a standing posture through an operation remote controller that can be operated while being held by a user. You may do it.

  Then, the actual usage method and effect | action of the walking training device 1 which has such a structure are demonstrated. As shown in FIGS. 3 and 4, the user first places the left and right soles against the left and right sole support portions 200 and 300 of the walking training device 1 while lying down. Then, the walking training device 1 is turned on to start walking training. Simultaneously with the start of walking training, the motor 410 rotates and the rotational force of the motor 410 is transmitted to the rotating shaft 450 via the belt 420 and the pulleys 431 and 432 so that the cam plates 460 and 470 rotate. Along with this, the foot pad portions 200 and 300 that are in contact with the cam plates 460 and 470 swing around the rotation shaft 150 as a fulcrum. As a result, the ankle joint is forcibly bent and stretched between the bottom bent state of the user's foot shown in FIG. 5 and the dorsiflexed state shown in FIG. 6. At the same time, the pulses generated by the pulse generator are transmitted to the vibrators 210, 220, 310, 320 of the foot pad 200, 300, and the vibrations of the vibrators 210, 220, 310, 320 are transferred to the left and right soles. It is transmitted at the same time before and after. In actual use examples, as shown in FIGS. 3 and 4, since the foot restraint portions 200 and 300 are provided with the band portions 250 and 350 for restraining the foot, the band portions 250 and 350 can be used by the user. By restraining the foot, vibrations of the vibrators 210, 220, 310, and 320 can be reliably transmitted to the sole.

  In this way, the left and right soles receive vibrations from the vibrators 210, 220, 310, and 320 while bending the ankle joint while the user's foot is in the plantar bent state and the dorsiflexed state. In addition to the flexion and extension of the joints, a pseudo load equivalent to the load felt by the sole when standing is received as a vibration stimulus from each of the vibrators 210, 220, 310, and 320, and the sitting posture or lying down by this pseudo load. The user's central nervous system and the neural circuit that leads to the illusion that the patient is standing even if he / she is trained to walk can be effective.

  Thus, according to the walking training device 1 according to the present embodiment, it is possible to expect the same effect as when walking while standing by applying a pseudo load due to vibration. In addition, by expanding the range of motion of the ankle joint, muscle activity for moving the ankle joint can be activated.

  After the user finishes training in this manner, even if the foot is separated from the foot support 200, 300, the rotation range of the foot support 200, 300 is provided by the torsion spring 151 provided on the rotation shaft 150. Therefore, the foot pad 200, 300 remains in contact with the cam plates 460, 470 without falling down, and there is no trouble in using the walking training device 1 thereafter.

  In the above-described embodiment, the vibrators 210, 220, 310, and 320 provided on the sole pads 200 and 300 are not necessarily provided so as to correspond to the front side and the back side of the sole, respectively. As shown in FIG. 7A, single vibrators 211 and 311 may be provided in the center of the left and right foot pad 200 and 300, respectively, so that the entire foot pad is vibrated. As shown in (b), only the vibrators 211 and 311 at the center of the footrest 200 and 300 may vibrate.

  Further, as a modification of the above-described first embodiment, as shown in FIG. 5, the top dead center of the foot pad 200, 300 is a state where the foot is most bent back due to the swing of the foot pad 200, 300. As shown in FIG. 6, when the bottom dead center is the bottom dead center of the sole pad 200, 300, the vibrators 210, 220 are located when the sole pad 200, 300 is located on the top dead center side. , 310, 320, the vibration stimulation received by the sole is made more dominant than when the sole support 200, 300 is in another position, or the sole support 200, 300 is positioned on the bottom dead center side. Occasionally, the state of vibration stimulation received by the sole from the vibrators 210, 220, 310, 320 is made superior to when the sole support 200, 300 is in another position, or the sole support 200, When 300 is located on the top dead center side and bottom dead center side, Whether to advantage the state of vibration stimulation sole receives from the transducer 210,220,310,320 may be alternatively choose so than when you are in the location.

  As described above, the vibration stimulation received by the sole from the vibrators 210, 220, 310, and 320 is dominant on either the top dead center side or the bottom dead center side at the position of the foot pad 200, 300. By doing so, it becomes possible to apply a pseudo load corresponding to the load received during landing on the actual walking and kicking up the toe to the sole during training.

  FIG. 8 is a diagram showing several vibration imparting patterns according to such a modification. The upper pattern 1 in FIG. 8 is a pattern for transmitting vibrations from the vibrators 210, 220, 310, and 320 to the sole when the sole pads 200 and 300 are located on the top dead center side. Reference numeral 2 denotes a pattern for transmitting vibrations from the vibrators 210, 220, 310, and 320 to the sole when the sole support portions 200 and 300 are located on the bottom dead center side. In this pattern, vibration is transmitted from the vibrators 210, 220, 310, and 320 to the soles when the abutting portions 200 and 300 are positioned on the top dead center side and the bottom dead center side.

  In FIG. 8, the vibrations of the vibrators 210, 220, 310, and 320 are on / off controlled. However, as shown in FIGS. 9 and 10, the vibration strengths of the vibrators 210, 220, 310, and 320 are Is adjusted by changing the amplitude or frequency of the vibration, and when the foot pad 200, 300 is located on both the top dead center side and the bottom dead center side, the soles of the feet are moved from the vibrators 210, 220, 310, 320. You may make it make the state of the vibration stimulation to receive prevail over the state of the vibration stimulation when the footrest 200, 300 is in another position.

  FIG. 9 and FIG. 10 specifically explain such a vibration pattern. In FIG. 9, the vibration of the sole pad 200, 300 when positioned on the top dead center side and the bottom dead center side is shown. It can be seen that the strength (vibration amplitude) is greater (dominant) than the vibration strength (vibration amplitude) at the neutral point. The superiority of vibration in this case may be based not on the amplitude of vibration but on the frequency of vibration as shown in FIG. Specifically, in FIG. 10, vibration when the strength (vibration frequency) of the foot pad 200, 300 located at the top dead center side and the bottom dead center side is located at the neutral point. It is larger (dominant) than the strength (frequency of vibration).

  Subsequently, a walking training device according to a second embodiment of the present invention will be described. In addition, about the structure equivalent to the walk training device 1 which concerns on 1st Embodiment mentioned above, a corresponding code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  As shown in FIGS. 1 and 2, the walking training device 2 according to the second embodiment of the present invention is also supported by the base 100 and one of the bases 100 via a rotating shaft 150. While having the sole contact part 200,300 attached so that rotation was possible centering on the moving shaft 150, and the drive part 400 which rocks the sole support part 200,300 by a predetermined angle, the sole support part 200,300 is provided. Are provided with vibrators 210, 220, 310, and 320. In this embodiment as well, the cover that covers the drive unit 400 is omitted in FIGS. 1 and 2.

  Further, although not shown here, the base plate 110 of the base 100 includes a pulse generator that transmits pulses of a predetermined cycle to the front sole vibrators 210 and 310 and the sole rear vibrators 220 and 320, and a foot A control unit that controls the vibrations of the back front vibrators 210 and 310 and the back sole vibrators 220 and 320 with a predetermined pattern peculiar to the present embodiment is provided, and an external AC power source or a base connected to the pulse generator is provided. The vibration generating unit is vibrated through a direct current power source such as a battery housed inside the table. Then, vibration stimuli having a predetermined pattern different from that of the first embodiment are applied to the soles in contact with the sole pads 200 and 300 via the vibrators 210, 220, 310, and 320.

  The specific vibration patterns of the vibrators 210, 220, 310, and 320 in the present embodiment are as follows. As shown in FIGS. 5 and 6, the foot is most bent back due to the swinging of the foot pad 200, 300. Is the top dead center of the foot pad 200, 300, and the bottom dead center of the foot pad 200, 300 when the most bent state is the bottom dead center, when the foot pad 200, 300 is located on the top dead center side The state of vibration stimulation received by the back side of the foot from the back side vibrators 220, 320 is dominant, and the back side vibrators 210, 310 are located when the sole pad 200, 300 is positioned on the bottom dead center side. The state of vibration stimulation received by the front side of the foot from the foot is dominant.

  Then, the effect | action by using the walk training device concerning such 2nd Embodiment is demonstrated. In this explanation, first, the relationship between the ankle joint and the sole pressure is mentioned.

  A human usually walks in a symmetrical pattern that alternates between feet, and the deviation of both feet is a half cycle. FIG. 11 is a diagram showing an impact received by the ankle joint and the sole when one leg is taken as a period from the ground contact to the foot contact of one leg, for example, from the starboard contact to the starboard contact. It is. The walking cycle consists of a standing leg that starts when the foot touches the floor and a free leg that starts when the foot leaves the floor. It spreads across the entire back and separates from the toes (toe separation). The impact of the soles received at this time is as shown in the lower diagram of FIG. Thus, when walking, the sole always receives pressure from the heel to the toe. And, from the information from the soles, it recognizes standing or walking.

  In this embodiment, as shown in FIG. 12 and FIG. 13, a pseudo load corresponding to the load received at the time of landing on the actual foot and kicking up the toe is applied to the sole during training in accordance with the above-described concept. It is like that. That is, when the soles 200 and 300 are located on the top dead center side and on the bottom dead center side, the vibration becomes strong, so that the soles vibrate at the same timing as the load received by the soles during walking. It can be received, and it makes an illusion that the central nerve and the neural circuit leading to it are caused to stand by the pseudo load due to vibration, and it becomes effective walking training.

  FIG. 12 is a diagram showing changes in the swing angle and swing strength of the foot pad 200 (300). In the upper part of the timing chart of the vibration strength, the foot pad 200 (300) is the bottom. When positioned on the dead point side, the sole of the foot sole side vibrator 210 (310) is vibrated so as to vibrate the foot sole side. In the lower part of the timing chart, the foot pad portion 200 (300) is provided. When located on the top dead center side, the sole rear vibrator 220 (320) vibrates to stimulate the heel of the sole.

  FIG. 13 is also a timing chart showing changes in the swing angle and vibration intensity of the foot pad 200, 300, and the relationship between the uppermost foot pad angle of the timing chart and the rotation angle of the rotating shaft. In FIG. 2, the curve drawn with a solid line indicates the swing angle of the foot support 200 for the left foot, and the curve indicated with a dotted line indicates the swing angle of the foot support 300 for the right foot.

  Then, as shown in the upper part of this timing chart, when the sole support 200 for the left foot is positioned on the bottom dead center side, the vibrator 210 on the front side of the left foot vibrates, and then the sole of the left foot When the contact part 200 is located on the top dead center side, the sole rear vibrator 220 of the left foot sole contact part 200 vibrates, and then the right foot sole contact part 300 is located on the bottom dead center side. When the right foot sole pad vibrator 300 of the right foot sole pad part 300 vibrates, and when the right foot sole pad part 300 is located on the top dead center side, the foot of the sole pad part 300 The back rear vibrator 320 vibrates. That is, by vibrating the vibrators 210, 220, 310, and 320 in this order, the pressure distribution on the sole that the user receives during actual walking is reproduced by a pseudo load.

  It should be noted that the superiority of vibration by such vibrators 210, 220, 310, 320 is not necessarily limited as in the walking training device 2 in the second embodiment described above. The vibration stimulation received before and after the sole by the vibrators 210, 220, 310, and 320 may be dominant on either the top dead center side or the bottom dead center side.

  That is, when the soles 200 and 300 are located on the top dead center side, the vibrations on the soles that the soles 220 and 320 receive on the soles are dominant. , 300 may be either in which the state of vibration stimulation on the front side of the foot received from the front foot side vibrators 210 and 310 becomes dominant when the bottom is located at the bottom.

  This also makes it possible to apply a pseudo load corresponding to the load received during landing on the foot and kicking up the toe during actual walking to the sole during training.

  Hereinafter, the grounds for improving the walking ability by alternately receiving stimulation around the user's soles by the walking training device 2 according to the second embodiment will be described in more detail.

  During actual walking, pressure distribution is generated on the sole when the sole touches down, and the heel strikes, the center of gravity moves slightly outside, and pressure is applied such as kicking with a toe. The pressure distribution generated in this movement plays an important role in timing the walking. In the case of a young person, as shown in the lower diagram of FIG. 14, the pressure distribution is generated so that the heel is first grounded and an impact force is applied, and the impact is applied to the toe (front foot) later. On the other hand, an elderly person walks like a pedestal as shown in the upper diagram of FIG. 14, so that the ground contacts the heel and toe almost simultaneously, and a clear pressure distribution hardly appears. In addition, the grounding time is long and rhythmic walking is not possible. Thus, elderly people with reduced walking ability do not have pressure distribution during walking and cannot walk. Furthermore, it is conceivable that the motion pattern generator for realizing rhythmical walking is not functioning well.

References relating to FIG. 14 and the description related thereto are as follows.
Authors: Ryuta Tomita, Katsuo Inoue, Shuta Kawamata Title: Examination of floor finish structure from the viewpoint of walking characteristics and walking feelings of elderly and adults Architectural Institute of Japan Environmental Studies No. 569, 7-14, 2003 Issued in July As described above, there is a risk of a small step or a fall on a flat ground due to a decline in walking ability and a function of sensory receptors on the soles. Therefore, in this embodiment, in addition to the ankle joint motion, the vibration pattern stimulation described above is positively applied to the sole. In other words, vibration stimulation is alternately applied before and after the sole so that the skin distribution on the sole that senses the pressure distribution important for walking ability can be recognized, and the sensory reception that governs the recognition power of the pressure distribution. By aiming to restore the function of the container and activating its neural circuit (feedback circuit), and giving vibrations to the front and back of the foot to people who do not have pressure distribution during walking, such as elderly people, with a healthy walking pattern The motion pattern generator is made to recognize a healthy walking pattern and induce normal walking.

  Therefore, by generating such a vibration pattern, a pseudo load equivalent to the actual load that an adult receives on the sole during walking can be given to the sole of the user who is an elderly person as a vibration stimulus. Even if you are not actually walking, you can reinvigorate the user's central nervous system and the neurotransmission circuit that leads to it as if it were an adult, and bring the actual walking pattern closer to the adult walking pattern. Can be performed.

  In addition, you may provide the sole positioning part as shown below in each right and left sole contact part 200,300 of the walk training device concerning embodiment mentioned above. By providing such a sole positioning part, the front side of the sole is surely brought into contact with the front vibrator of the sole support part via the positioning part, and the back side of the sole is surely contacted with the rear sole vibrator. It can come into contact.

  Specifically, in the case of the sole positioning unit shown in FIG. 15, sole positioning units 221 and 321 are provided in the vicinity of the sole rear side vibrators 220 and 320 of the sole positioning unit. Each of the sole positioning portions 221 and 321 is formed by a protruding protrusion having a rib contact portion that substantially coincides with the contour of the user's heel, and is formed to protrude from the upper surface of the foot pad portion.

  Further, as a modification of the sole positioning unit, as shown in FIG. 16, protrusions 222 and 322 where the sole positioning unit abuts against the fingertips of the user's feet are provided above the soles on the sole side 210 and 310. It is good also as a form.

  Further, as a further modification of the sole positioning portion, as shown in FIG. 17, the sole positioning portions 223 and 323 are provided at positions corresponding to the left and right foot arches on the upper surfaces of the sole contact portions 200 and 300. It is also good. By providing such a sole positioning part, the arch is pressed by the sole positioning parts 223 and 323 simultaneously with the positioning of the sole to improve the walking ability, which is the main purpose of the present invention. Can be given to.

  As another modification of the sole positioning portion, as shown in FIG. 18, the sole positioning portion is provided with foot-shaped depressions 224 and 324 corresponding to the left and right sole shapes of the user. Also good. By forming the sole positioning portion with the concave portions 224 and 324, the sole can be easily positioned at an appropriate position of the balance training apparatus even when the user is a visually impaired person, for example. become. Instead of providing such recesses 224 and 324, a seal corresponding to the user's foot shape may be applied to the upper surface of the footrest to form the sole positioning portion.

  As a modification of the above-described second embodiment, as shown in FIG. 7 (d), the gait training device includes a user's right foot heel, foot side upper part, each thumb region, left foot heel, The vibrator corresponding to each area of the foot side upper part and the thumb may be provided in the sole support part (in FIG. 7D, the sole support part 300 corresponding to the right sole and each vibrator 335- Only 337 is shown).

  Such a walking training device 2 vibrates each vibrator for the right foot in the order of the right footpad, the right upper outer side of the right foot, and the right toe, and then the left footpad, the upper left foot, and the left toe. Each vibrator vibrates and can stimulate the sole in this order.

  According to the walking training device according to this modification, a pseudo load approximated to an actual walking pattern of an adult with so-called tilting (rolling) using the side of the sole while walking can be given to the sole of the user, Coupled with ankle joint flexion and extension movements, for example, it is possible to train an adult's gait pattern into the neurotransmission circuit and the central nerve of the elderly during training and to be closer to the adult gait pattern during actual walking .

  Then, the walk training device concerning the 3rd Embodiment of this invention is demonstrated. In addition, about the structure equivalent to the walk training device which concerns on 1st and 2nd embodiment mentioned above, a corresponding code | symbol is attached | subjected and detailed description is abbreviate | omitted.

  The walking training device 3 according to the third embodiment of the present invention includes a base 500 and one end connected to the base 500 via a hinge 510, as shown in FIGS. 19 (a) and 19 (b). And the other end of the first movable plate 610 is connected to the other end of the first movable plate 610 via a hinge 615 and connected to the base 500 via the link mechanism. And a second movable plate 620 connected thereto. Then, the first movable plate 610 and the second movable plate 620 constitute the foot sole support portion 600. In the present embodiment, a cover that covers the base 500 is not shown.

  The second movable plate 620 has a size corresponding to the toe of the foot applied to the sole pad 600, and the first movable plate 610 corresponds to a portion other than the toe of the foot. Each of which is attached to a predetermined position via a link mechanism.

  The base 500 has a square C-shape in a side view, includes a motor 520, is connected to the motor 520, and is eccentrically attached to the center of the rotary plate 530, which is connected to the motor 520 and forms the link mechanism. One link 540 and a second link 550 are provided. The other end of the first link 540 is connected to the first movable plate 610, and the other end of the second link 550 is connected to the second movable plate 620. In addition, as shown in FIG. 20A, a vibrator 611 is provided at a position corresponding to the heel portion of the sole in contact with the first movable plate 610, and also corresponds to the fingertip portion of the second movable plate 620. A vibrator 621 for the tip of the foot is provided at the position.

  In actual walking, the toes bend when the toes are kicked. By providing the first movable plate 610 and the second movable plate 620 as described above, the joint movable range of the toes can be expanded and the toes Since vibration can be transmitted when bent, the movement of the foot during actual walking can be faithfully reproduced, and walking training can be performed more effectively.

  As shown in FIG. 20B, the vibrator (vibration corresponding to the right sole in FIG. 20B) is placed at a position corresponding to the sole of the first movable plate 610 and the side of the sole. And a vibrator (only a vibrator 622 corresponding to the right foot sole is shown in FIG. 20B) at a position corresponding to the toe tip of the second movable plate 620. Also good.

  As described above, according to the walking training device of the present invention, during walking training, the plantar is moved in addition to the flexion / extension motion of the ankle joint by giving vibration to the sole while swinging the foot. A pseudo load equivalent to the felt load is given as a vibration stimulus, and the central nervous system and the neural circuit that leads to it are illusioned that it is in a sitting or lying position through this pseudo load. Realize gait training.

  That is, by applying such a pseudo load, it is possible to expect the same effect as a walking exercise while standing. Further, by expanding the range of motion of the ankle joint, the activity of muscles that move the ankle joint can be activated.

  Further, by changing the vibration in conjunction with the swing of the sole contact portion, a pseudo load equivalent to the load received in the actual walking state can be applied to the sole.

  In addition, by making the vibration of the vibrator dominant in at least one of the top dead center side and the bottom dead center side of the position of the foot pad, it is possible to lift the toes and kick the toes when actually walking A pseudo load corresponding to the load received at the time can be applied to the sole during walking training.

  In other words, the vibration becomes stronger on at least one of the top dead center side and the bottom dead center side, so that the sole can receive the vibration at the same timing as the load received by the sole during walking, and a pseudo load due to the vibration is generated. As if you are standing and walking, you will have an illusion of the central nervous system and neural circuit, and it will be an effective walking training.

  In addition, the state of vibration on the back side of the sole is dominant when the sole part is positioned on the top dead center side, and the state of vibration on the front side of the sole is dominant when positioned on the bottom dead center side. By setting to, a pseudo load close to the shape during walking can be given to the sole more specifically.

  Also, by providing the sole positioning means, the front part of the sole is surely brought into contact with the front vibrator of the sole contact part via the sole positioning means, and the rear part of the sole is placed behind the sole. Thus, the vibrator can be reliably brought into contact.

  In addition, the foot support part is composed of a first movable part and a second movable part hinged to the first movable part, and the first movable part and the second movable part cooperate to come into contact with the foot contact part. Bending and extending the toes toward the back of the foot while bending the ankle of the foot forward and backward, and equipped with a vibrator on each movable part, changing the vibration state of each vibrator according to the swing of the sole In addition, the range of motion of the toes can be expanded and vibrations can be transmitted to the toes when the toes are bent. Can be done effectively.

  In the above-described embodiment, the foot support portion is swung by the motor and the cam mechanism. However, the present invention is not necessarily limited to this configuration, and the crank mechanism or the air described in, for example, Japanese Patent Application Laid-Open No. 2004-89672 is used. You may make it rock | fluctuate a sole positioning part by inflating or shrink | contracting an airbag with the combination of a cylinder and an airbag.

  Moreover, the material name of each component of the walking training device described above is merely an example, and any material may be used as long as it exhibits the function of the present invention.

  In addition to the vibration patterns described above, as shown in FIGS. 21 and 22, the vibration patterns of the soles on the sole side 210 and 310 and the soles on the sole side that are on the back side of the sole, When both the foot pad 200 and 300 are located on the top dead center side shown in FIG. 21B, the vibration state on the front side of the foot is dominant, and both the foot pads 200 and 300 are illustrated. When located on the bottom dead center side shown in 21 (a), the state of vibration on the back side of the sole may be dominant.

  The pressure information on the soles is also important when maintaining balance when standing. For example, when the body is tilted forward, the ankle joint is bent back and pressure is applied to the front side of the sole. This information is sensed by various sensory receptors, and the posture is controlled by feeding back the information so that the body is returned to the back. On the other hand, when the body falls later, the ankle joint is bent to the bottom, pressure is applied to the back side of the sole, and information is fed back to control the posture so that the body falls forward.

  Here, when the positions of the foot pad portions 200 and 300 are at the top dead center side, the vibration on the front side is strong, and on the bottom dead center side, the vibration on the back side is strong, so when the ankle joint is dorsiflexed, When the ankle's front vibration becomes stronger and the ankle joint is bent to the bottom, the vibration behind the sole becomes stronger, and the vibration at that time is given as a pseudo load, giving the illusion of a change in posture before and after standing be able to. As a result, it is possible to activate sensory receptors on the soles and ankle joints related to balance ability and improve the gait of a neural circuit, which leads to an improvement in walking ability.

It is a perspective view which shows the walk training device concerning the 1st Embodiment of this invention from diagonally forward. It is a perspective view which shows the walk training device shown in FIG. 1 from diagonally backward. It is a perspective view which shows the state which actually applied the user's sole to the sole contact part of the walking training device shown in FIG. FIG. 4 is a side view of the state shown in FIG. 3. It is a side view which shows the sole contact part of the state which the cam contact | abutted to the sole support part located in the top dead center side with a user's sole. It is a side view which shows the sole contact part of the state which the cam contact | abutted to the sole contact part located in the bottom dead center side with a user's sole. It is a top view which shows each aspect of the vibrator with which the foot sole support part was equipped. It is a timing chart which shows the swing angle of a sole pad part, and on / off of swing. It is explanatory drawing which shows the change of the rocking | fluctuation angle and vibration intensity | strength of a foot sole part. It is explanatory drawing which shows the change of the rocking | fluctuation angle and vibration frequency of a foot sole part. It is explanatory drawing which shows the relationship between the motion of the ankle joint at the time of a walk, and the impact of a sole. It is explanatory drawing which shows the change of the rocking | fluctuation angle and vibration intensity | strength of a foot sole part. It is explanatory drawing which shows the change of the rocking | fluctuation angle and vibration intensity | strength of a foot sole part. It is a figure which shows the relationship between the impact force which an adult and an elderly person receive, and walking time. It is a perspective view which shows an example of a sole positioning part. It is a perspective view which shows another example of a sole positioning part. It is a perspective view which shows another example of a sole positioning part. It is a perspective view which shows another example of a sole positioning part. It is a side view which shows the walk training device concerning the 3rd Embodiment of this invention. It is a top view which shows the form of the foot pad part of the walk training device shown in FIG. It is a perspective view which shows the walk training device concerning the 4th Embodiment of this invention from diagonally forward, and is a figure (FIG.21 (a)) of a state where a cam is located in the bottom dead center side, and a cam in the top dead center side. It consists of the figure of a state (FIG.21 (b)). It is explanatory drawing which shows the change of the rocking | swiveling angle and vibration intensity | strength of a footrest part regarding FIG. It is a figure which shows the relationship between the muscular strength accompanying the age-related change of physical strength, and balance power. It is a figure explaining the factor of a balance feeling.

Explanation of symbols

1, 2, 3 Walking training device 100 Base 110 Base plate 120, 130 Support plate 121, 131 L-shaped bracket 141 L-shaped bracket 150 Rotating shaft 151 Torsion spring 200 Foot backing part 210 (Sole front side) vibrator 211 Oscillator 220 (Sole back side) Oscillators 221, 223 Sole positioning part 222 Projection part 224 Foot-shaped dent part 250 Band part 300 Sole back part 310 (Sole front side) Oscillator 311 Oscillator 320 (Sole) Rear side) Vibrator 321, 323 Foot positioning part 322 Protrusion part 324 Foot-shaped recess 335, 336, 337 Vibrator 350 Band part 400 Drive part 410 Motor 420 Belt 431, 432 Pulley 450 Rotating shaft 460, 470 Cam plate 500 base 510 hinge 520 motor 530 rotating plate 54 DESCRIPTION OF SYMBOLS 0 1st link 550 2nd link 600 Foot support part 610 1st movable plate 611,612,613 oscillator 615 hinge 620 2nd movable plate 621,622 oscillator

Claims (6)

The base,
In a walking training device provided with a sole support portion that is pivotally supported on the base via a rotation shaft and attached to be rotatable about the rotation shaft.
A walking training device comprising a vibrator in the sole contact portion and transmitting vibration to the sole of a user in contact with the sole support portion via the vibrator.   The walking training device according to claim 1, wherein the state of the vibration changes in conjunction with the swinging of the foot pad portion.   The foot contact portion in the state where the foot in contact with the foot contact portion is bent back most by the swinging of the foot contact portion is located at the top dead center, and the foot contact portion in the most bent state is 2. The vibration by the vibrator is dominant when the position of the foot support portion is at least one of the top dead center side and the bottom dead center side when located at the bottom dead center. Or the walk training device of Claim 2. The vibrator is composed of a vibrator on the front side of the foot that hits the front side of the sole and a vibrator on the back side of the foot that hits the back side of the sole in a state where the sole of the user is in contact with the foot pad.
The state of vibration on the back side of the sole becomes dominant when the sole part is located on the top dead center side, and the state of vibration on the front side of the sole when the sole part is located on the bottom dead center side The gait training device according to claim 3, wherein   The gait training device according to claim 4, further comprising a sole positioning unit configured such that the front and back of the sole are in contact with each vibrator. The foot sole part is composed of a first movable part and a second movable part movably coupled to the first movable part,
While the first movable part and the second movable part cooperate with each other via the driving means, the toes are bent and extended to the back side of the foot while causing the foot in contact with the sole support part to bend or bend, and
The vibrator according to any one of claims 1 to 5, wherein each movable part is provided with a vibrator, and the vibration state of each vibrator changes in accordance with the swing of the foot support part. The gait training device described in Crab.

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