JP2009195636A - Safety against overturning for walking training and walking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely support the body of a walking trainee who is in need of training the walking and, when the walking trainee is about to lose a balance of the body in training, support the body and prevent the overturn without giving a damage to the walking trainee. <P>SOLUTION: This safety against overturning is provided in a walking support device, which has a support member lifting and supporting the trainee to a walking support device body for making the walking trainee train the walking and which prevents the overturn of the walking trainee, and includes a displacement part provided in the walking support device body side and, when the support member is connected, displaced along with the movement of the walking trainee, a brake applying a braking force to the support member, a detection part detecting or estimating collapse of the walking trainee's body based on the displacement state of the displacement part, and a braking force control part which controls the braking force applied from the brake to the support member based on the detection result of the detection part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention provides a fall-preventing device for detecting a collapse of the posture of the walking trainer and preventing the fall in the walking support device that lifts and supports the trainee so that the walking trainer is ready for walking training, or The present invention relates to a walking support device provided with a fall prevention device.

  Conventionally, walking training for persons with walking disabilities, elderly people, and the like has been used, for example, a handrail stick attached to a room, a walker that has wheels at the lower end, and performs walking training while being pushed forward by a walking trainer. However, in walking training using the handrail stick or walker, it is difficult to prevent the walking trainer from falling down, and the attendant is accompanied by the attendant. The caregiver was always burdened with surveillance, and the burden was heavy. Therefore, in order to reduce the burden on the assistant, a walking support device incorporating a motor-driven overturn prevention device has been proposed (see, for example, Patent Documents 1 and 2).

  Moreover, the technique which comprises the walk assistance device of a walking trainer using only a mechanical element, and prevents the fall of a walking trainer by this is disclosed (for example, refer patent document 3). By configuring the walking support device with only mechanical elements in this way, it is possible to provide a device that is inexpensive and excellent in safety compared to a walking support device that includes a motor and a brake drive.

Here, the technique regarding the walk assistance apparatus which assists the walk by guiding a walk trainer is also indicated (for example, refer to patent documents 4). In this technique, a controllable brake is attached to the wheel, and by controlling this brake, the vehicle body that guides the gait trainer is suitably driven along the target route.
JP 2003-47635 A JP 2004-329278 A JP 2005-342306 A JP 2005-80856 A

  A gait trainer who needs to perform gait training may need to support the gait trainer's body carefully and reliably according to the condition of the body, the degree of injury, and the like. And when performing the walking training while supporting the body of the walking trainer in this way, the walking trainer is in a state where the body is left in the walking support device, so the balance of the body during the walking training is You must definitely avoid being damaged by breaking.

  Here, in a walking support device incorporating an actuator-driven fall prevention device such as a motor as in the prior art, there is a possibility of damaging a walking trainer when the actuator malfunctions. Moreover, if it is going to comprise a walking assistance apparatus only with a mechanical element as mentioned above, it will become difficult to implement | achieve flexible walking training, such as performing appropriate walking training for every walking trainer.

  In the present invention, in view of the problems described above, when the gait trainer tries to break the balance of the body during training while reliably supporting the body of the gait trainer who needs to perform gait training, the gait training is performed. An object of the present invention is to provide a fall prevention device for supporting a body without damaging the person and preventing the fall.

  Therefore, in order to solve the above-described problem, in the present invention, on the assumption that the body of the gait trainer is supported by the support member, the displacement is accompanied by the motion of the gait trainer by being connected to the support member. Based on the displacement of the displacement portion, a braking force is applied to the support member by a brake, and the movement is controlled. With this configuration, the gait trainer can receive safe walking support while his / her body is supported by the support member.

  Specifically, the fall prevention device for walking training according to the present invention is a walking support device having a support member that supports the lift by lifting the trainer from the walking support device body so that the walking trainer can walk. A fall prevention device that detects a collapse of the posture of the walking trainer and prevents falls, provided on the walking support device main body side and connected to the support member, A displacement part that is displaced in accordance with an operation; a braking brake that applies a braking force to the support member; and a detection part that detects or estimates a collapse of the body of the walking trainer based on a displacement state of the displacement part; And a braking force control unit that controls a braking force applied from the braking brake to the support member based on a detection result of the detection unit.

  The fall training apparatus for walking training (hereinafter also simply referred to as “falling prevention apparatus”) suspends the trainer from the walking support device main body so that the walking trainer is ready for walking training. Used for supporting walking support devices. Therefore, the fall-preventing device is a device for preventing the gait trainer from falling due to the body collapsing during walking training. Here, the gait trainer is connected to the displacement portion via the support member. Accordingly, the displacement part directly reflects the movement of the body of the walking trainer, particularly the body movement resulting in a fall such as a collapse of the body during walking training.

  Here, in the fall prevention device, the movement of the gait trainer's body is recognized through the displacement of the displacement unit, and the detection or estimation of the collapse of the body by the detection unit is performed. The detection result is transmitted to the braking force control unit, and the braking force control unit controls the braking brake based on the result, and controls the braking force to the supporting member, thereby being connected to the supporting member. Supports the body of a gait trainer.

  As described above, in the fall prevention device according to the present invention, the walking support of the walking trainer is performed through the control of the braking brake that applies the braking force to the support member. In comparison, the possibility of damaging gait trainers is extremely low. In addition, since the braking brake control is performed by the braking force control unit, the braking brake can be controlled in various ways, and thus flexible walking training can be provided to the walking trainer.

  In the above fall prevention device, the detection unit detects the collapse of the body of the walking trainer based on at least one of a displacement distance of the displacement unit, a displacement speed of the displacement unit, and a displacement acceleration of the displacement unit. Alternatively, it may be estimated. In addition, when the displacement unit is capable of rotating or unwinding the connected support member by performing a rotational displacement, the detection unit is configured so that the rotation angle of the displacement unit, The collapse of the walking trainer's body may be detected or estimated based on at least one of the rotational angular velocity and the rotational angular acceleration of the displacement unit. As for the displacement of the displacement part, various displacements such as linear, non-linear, and rotation can be used as long as the movement of the gait trainer is reflected. By using these actual displacements, the displacement speed that is the first derivative thereof, and the displacement acceleration that is the derivative thereof, it is possible to suitably control the braking force by the braking brake.

Here, in the fall prevention device described above, two examples are shown below as an example of the braking force control unit. In one of them, when the detection unit detects or estimates the collapse of the body of the walking trainer, the braking force control unit applies a braking force that restricts the movement of the support member to the support member. As described above, the braking brake may be controlled. Thereby, the gait trainer whose body is about to collapse can be reliably prevented from falling because the movement of the support member is restricted.

  In another example, when the detection unit detects or estimates a collapse of the body of the gait trainer, the braking force control unit is configured such that the displacement distance of the displacement unit, the displacement speed of the displacement unit, The braking brake may be controlled so that a braking force corresponding to at least one of the displacement accelerations of the displacement portion is applied to the support member. That is, a force (virtual elastic force) obtained by multiplying a coefficient related to the displacement distance (virtual elastic coefficient) by the displacement distance (virtual elastic force), a coefficient obtained by multiplying the coefficient related to the displacement speed (virtual viscosity coefficient) by the displacement speed (virtual viscous force), and a coefficient related to the displacement acceleration. The viscoelastic braking force is supported when the braking force control unit generates a force obtained by adding one or more of the forces (virtual inertial forces) multiplied by the displacement acceleration (virtual inertia coefficient) by the braking brake. Acts on the gait trainer through the member. As a result, when preventing the gait trainer from falling, it is possible to mitigate the impact generated on the gait trainer.

  Here, in the fall training apparatus for walking training up to the above, a load-removing member that links with the support member and relieves the weight of the walking trainer may be further provided. The load during walking training of the walking trainer by this load-carrying member, and also the load applied when trying to return to the original walking state after the body of the walking trainer collapses and the fall is prevented by the braking force of the braking brake That is, it is possible to reduce the load at the time of posture recovery, and thus it is possible to smoothly realize walking training for walking trainers.

  Here, the walking support device having the above-described fall prevention device and further including the walking support device main body, which is movable with the walking trainer, and the support member is also provided. It is included in the category of the invention.

  If the gait trainer breaks the balance of the body during training while reliably supporting the body of the gait trainer who needs to perform gait training, the body is not damaged without damaging the gait trainer. Support and prevent falls.

  DESCRIPTION OF EMBODIMENTS Embodiments of a fall prevention device and a walking support device equipped with the same according to the present invention will be described below with reference to the drawings.

  In FIG. 1, the structure of the walk assistance apparatus 1 provided with the fall prevention apparatus 10 which concerns on this invention is shown. FIG. 1A is a front view of a state where a walking trainer is walking training in a state of being lifted by the walking support device 1, and FIG. 1B is a side view of the state. . In the walking support device, the fall prevention device 10 is a brake type using a powder brake 14 (see FIG. 2) capable of controlling the braking torque as will be described later. A control device 20 including the battery is provided.

  Specifically, the walking support device 1 has a main body frame 2 that is an outline thereof. As shown in FIG. 1, the main body frame 2 includes an upper frame 2a positioned above the walking trainer, a vertical rear frame 2b that supports the upper frame 2a in a vertical direction, and a vertical rear frame 2b positioned at the bottom of the main body frame 2. A bottom frame 2c to be attached, a vertical front frame 2d provided vertically to the bottom frame 2c in front of the main body frame 2, and a horizontal frame 2e attached to the vertical front frame 2d and disposed at a position where a hand of a walking trainer can be placed. Have.

Here, the walking trainer is equipped with a harness 5 for supporting the body, and the rope 3 connected to the harness 5 falls over the fixed pulley 4 installed in the upper frame 2a. The prevention device 10 has been reached. In addition, the fall prevention device 10 is provided on the vertical rear frame 2b. Further, a weight-unloading device 30 is installed below the fall prevention device 10 and on the bottom frame 2c. The weight loader 30 and the fall prevention device 10 are connected by a rope 31, and a walking trainer uses a force Fw for lifting the walking trainer by the rope 3 from the weight loader 30 via the fall prevention device 10. By transmitting to the side, it becomes possible to reduce the load when the walking trainer actually performs walking training. In addition, the effect | action of the weight relief apparatus 30 in the fall prevention apparatus 10 is mentioned later.

  When the walking support device 1 configured as described above is used, the walking trainer can perform walking training in a state where the load that supports his / her body weight is reduced by the action of the weight relief device 30. Further, since the wheel 6 is provided on the lower side of the bottom frame 2 c, the walking trainer can walk with the main body frame 2 while being suspended from the main body frame 2. In addition, the weight loader 30 generates a force Fw for lifting the walking trainer by the rope 3 using one or a plurality of constant load springs (springs that generate a constant force regardless of the stroke). It is good. Moreover, it is good also as what generate | occur | produces the force Fw for lifting a walk trainer with the rope 3 using a linear spring, a torsion coil spring, etc. instead of a constant load spring.

  Here, it is not preferable for the safety of the gait trainer that the gait trainer collapses the balance during the gait training and the body collapses and falls as a result. Therefore, in the walking support device 1, before the walking trainer falls, the fall prevention device 10 and its control are detected in order to detect the collapse of the body and prevent the walking trainer from falling. A device 20 is provided. As described above, the fall prevention device 10 is of a brake type. Further, as will be described later, a remote control switch 21 is provided for releasing the powder brake 14 in the braking state after the powder brake 14 is actuated to prevent the fall by the fall prevention device 10. If this remote control switch 21 is installed at a position where an assistant or walking trainer can operate it by hand, the installation location is not particularly limited. The remote control switch 21 may be a so-called handy type switch that can be used by a walking trainer or the like, or may be a wired type or a wireless type.

  In FIG. 2, the structure of the fall prevention apparatus 10 is shown. The fall prevention device 10 is provided so that the four sub-plate portions 11 a, 11 b, 11 c, and 11 d are perpendicular to the main plate portion 11. Here, between the sub-plate portions 11b and 11c, the drum 12 and the drum 13 fixed together on the rotary shaft 18a are supported by bearings so as to be rotatable with respect to both the sub-plate portions. An encoder 15 connected to the rotary shaft 18b is attached to the sub plate portion 11a, and the rotary shaft 18b is supported by a bearing so as to be rotatable with respect to the sub plate portions 11a and 11b. The rotating shaft 18b is arranged coaxially with the rotating shaft 18a, and both rotating shafts are connected by a coupling 16. Further, a powder brake 14 connected to the rotary shaft 18c is supported between the sub plate portions 11c and 11d so as to be rotatable with respect to both the sub plate portions. The rotating shaft 18c is arranged coaxially with the rotating shaft 18a, and both rotating shafts are connected by a coupling 17.

  A rope 3 connected to a harness 5 worn by a walking trainer is wound around the drum 12, while a rope 31 connected to a weight loader 30 is wound around the drum 13. ing. Accordingly, the force Fw (hereinafter simply referred to as “weight-carrying force”) Fw transmitted from the weight-carrying device 30 for reducing the weight load of the gait trainer is transmitted from the rope 31 to the drum 13 and further the same rotational axis. It is transmitted to the gait trainer side via the rope 3 through the drum 12 fixed to 18. Thereby, it becomes possible to reduce the load at the time of walking training of a walking trainer.

  When the gait trainer performs gait training, the movement of the body is transmitted through the rope 3 and is also transmitted from the drum 12 to the rotation shafts 18a to 18c, and these rotation shafts are rotationally displaced according to the movement of the body. . Here, as described above, the encoder 15 is provided on the rotating shaft 18b side, and the rotational displacement amount of the rotating shaft 18b detected there, in other words, the rotation of the rotating body including the rotating shafts 18a to 18c and the drums 12 and 13 is rotated. The displacement amount is transmitted to the control device 20. The control device 20 can detect the movement of the body during walking training of the walking trainer based on the information regarding the rotational displacement amount.

  The powder brake 14 is electrically connected to the control device 20, and the magnitude of the braking torque exerted by the powder brake 14 can be controlled by a control signal output from the control device 20. When braking torque is generated by the powder brake 14, the braking torque also acts on the drums 12 and 13 via the rotating shafts 18c and 18a. As a result, a braking force for stopping the movement is exerted on the walking trainer via the rope 3.

  Moreover, the example of the fall prevention apparatus 10 which has a structure different from the structure shown in FIG. 2 is shown in FIG. In addition, about the same structure with the fall prevention apparatus shown in FIG. 3, and the fall prevention apparatus shown in FIG. 2, the detailed description is abbreviate | omitted by attaching | subjecting the same reference number. In the overturn prevention device 10 shown in FIG. 3, two sub-plate portions 11 e and 11 f are provided so as to be perpendicular to the main plate portion 11. Here, between the sub-plate portions 11e and 11f, the drum 12, the drum 13, and the gear 19c, which are fixed to the rotating shaft 18a, are supported by bearings so as to be rotatable with respect to both the sub-plate portions. A gear 19a is fixed on the rotating shaft 18a outside the sub-plate portion 11e, and a gear 19b that meshes with the gear 19a is fixed on the rotating shaft 18d, and the rotating shaft 18d is connected to the sub-plate portion 11e. The bearing is supported by. In addition, the encoder 15 is connected with the rotating shaft 18d inside the sub-plate part 11e.

  Further, a gear 19d that meshes with a gear 19c fixed on the rotating shaft 18a is fixed on the rotating shaft 18f between the sub-plate portions 11e and 11f, and the rotating shaft 18f is supported by the sub-plate portion 11f as a bearing. Has been. Further, on the outside of the sub-plate portion 11f, the powder brake 14 is connected to the rotating shaft 18f. Thus, the detection accuracy of the encoder 15 can be improved by the deceleration relationship between the gear 19a and the gear 19b. Further, the braking torque generated on the rotating shaft 18f of the powder brake 14 can be amplified and transmitted to the rotating shaft 18a of the drums 12 and 13 by the deceleration relationship between the gear 19c and the gear 19d.

  In the walking support device 1 including the fall prevention device 10 configured as shown in FIG. 2 or FIG. 3, when the walking trainer is performing walking training, the encoder performs an operation related to the collapse of the body by breaking the balance of the body. 15, and the braking torque exerted by the powder brake 14 is controlled based on the detection result. As a result, it is possible to reliably prevent the gait trainer from falling. Below, the fall prevention process for preventing the fall of the walk trainer at the time of the walk training is demonstrated based on FIGS. The processing is performed by executing a predetermined control program by a control unit (for example, a central processing unit (CPU)) in the control device 20.

The fall prevention process shown in FIG. 4 is a process performed when a gait trainer performs gait training. This fall prevention process is a useful process for preventing the fall early after detecting the collapse of the body of the gait trainer. When this processing is started, the remote control switch is in the ON state, and thus the braking of the powder brake 14 is in a controllable state. First, in S101, various parameters necessary for the fall prevention process during walking training are initially set. Specifically, this parameter is a threshold value for detecting the collapse of the body of the gait trainer, and in this embodiment, the rotation angle of the rotating shaft 18a to which the drums 12 and 13 are fixed (
Threshold values for the rotational distance) θ, the rotational angular velocity θ ′, and the rotational angular acceleration θ ″ are set. When the process of S101 ends, the process proceeds to S102.

  In S <b> 102, the initial position X <b> 0 that is the initial reference position of the walking trainer is measured by the encoder 15. Thereafter, the collapse of the body of the walking trainer is detected based on the initial position X0. When the gait trainer performs gait training, if there is no problem with the gait trainer, the braking torque by the powder brake 14 does not work, but if it is determined that there is a possibility of falling such as collapse of the body, The braking torque is exerted by the powder brake 14. When the process of S102 ends, the process proceeds to S103.

  In S103, the initial position X0 measured in S102 is used as a reference point, and the current position X of the walking trainer from the initial position is measured by the encoder 15. When this measurement is performed, the process proceeds to S104, and it is determined whether or not the walking trainer has a possibility of falling, that is, whether or not the walking trainer has collapsed. Specifically, when the difference between the current position X measured in S103 and X0 measured in S102 is equal to or greater than the threshold value related to the rotation angle θ set in S101, the walking trainer collapses. It is determined (affirmative determination). In addition, when the rotational angular velocity θ ′ of the rotation shaft 18a generated by the movement of the walking trainer's body is equal to or greater than the threshold value regarding the rotational angular velocity θ ′ set in S101, the walking trainer has collapsed. A determination (positive determination) may be made. Similarly, when the rotational angular acceleration θ ″ of the rotating shaft 18a caused by the movement of the walking trainer's body is equal to or greater than the threshold value regarding the rotational angular acceleration θ ″ set in S101, the walking trainer collapses. It may be determined (affirmative determination) that this has occurred. Note that the rotational angular velocity θ ′ and the rotational angular velocity θ ″ of the rotating shaft 18 a are obtained by first-order (digital) differentiation and second-order (digital) differentiation of information on the rotation angle measured by the encoder 15.

  If an affirmative determination is made in S104, the process proceeds to S105, and a braking instruction is issued from the control device 20 to the powder brake 14 so that the braking torque is exerted by the powder brake 14, and the braking torque acts on the rotary shaft 18a. become. This braking torque is sufficient to fix and support the body of the walking trainee who has collapsed, and this braking torque is quickly exerted by the powder brake 14 in the process of S105. Therefore, the body of the gait trainer who has fallen down is supported stably and does not fall.

  When the process of S105 ends, the process proceeds to S106, and it is determined whether or not the remote control switch 21 is in the OFF state. The walking trainer whose body is supported by the process of S105 cannot use the walking support device 1 again unless the braking of the powder brake 14 is released. Therefore, in order to release the braking, it is necessary to operate the remote control switch 21 to turn off the remote control switch 21 in the initial ON state. Therefore, in S106, whether to release the braking of the powder brake 14 is determined based on the operation result of the remote control switch 21 of the walking trainer in order to determine whether to release the support of the body to the supported walking trainer. to decide. If an affirmative determination is made in S106, the braking of the powder brake 14 is released in the processing after S107. On the other hand, if a negative determination is made in S107, the intention of the walking trainer regarding the brake release of the powder brake 14 is not indicated, and therefore the process of S105 is continuously performed.

Here, when a negative determination is made in the process of S104, or when an affirmative determination is made in the process of S106, the braking state of the powder brake 14 is released in S107, and the braking force is not applied. Here, when the braking state of the powder brake 14 is released, the weight unloading force Fw by the weight unloading device 30 acts, so that the start of the walking trainer is supported. Thereafter, in S108, it is determined whether or not the walking trainer's walking training has ended. Specifically, the determination is performed in accordance with instructions from the walking trainer to the control device 20. If an affirmative determination is made in S108, the overturning prevention process ends. On the other hand, if a negative determination is made in S108, a determination in S109 is made.

  In S109, it is determined whether or not the remote control switch 21 has been returned to the ON state. That is, it is determined whether or not the remote control switch has been returned to the ON state in order to enable support control by the powder brake 14 so that the walking trainer can return to walking training. Here, if an affirmative determination is made, the processing after S103 is performed again. If a negative determination is made, the determination process of S109 is repeated.

  Thus, according to this fall prevention process, when the body of the gait trainer is not collapsed, the gait training can be performed in a state in which the load applied to the gait trainer is reduced by the weight loader 30. On the other hand, when it is determined that there is a possibility that the body of the walking trainer collapses and falls, the braking torque of the powder brake 14 prevents the walking trainer from falling. Thus, by controlling the powder brake 14 incorporated in the fall prevention device 10 based on the rotational displacement of the rotating shaft 18a linked to the movement of the body of the walking trainer, the walking trainer can balance the body during training. In the case of breaking down, it is possible to support the body without damaging the gait trainer and to prevent falling.

  Next, another embodiment of the fall prevention process performed when the gait trainer performs gait training will be described with reference to FIG. The fall prevention process shown in FIG. 5 is to detect the collapse of the body of the gait trainer and then support it to reduce the impact on the body of the gait trainer as much as possible to prevent the fall. This is a useful process. 5 that are the same as those in the fall prevention process shown in FIG. 4 are assigned the same reference numerals, and detailed descriptions thereof are omitted.

  In the fall prevention process shown in FIG. 5, if a positive determination is made in S104, the process proceeds to S201. In S201, the current position X of the gait trainer is measured by the encoder 15 as in S103. Next, based on the measurement result in S201, impedance control of the powder brake 14 is performed in S202. Note that the virtual elastic coefficient (virtual spring constant K, virtual viscosity coefficient C, virtual inertia moment M) used for this impedance control is set as an initial parameter in S101. This virtual spring constant K is a coefficient for causing the powder brake 14 to exert a braking torque in proportion to the amount of displacement of the rotation angle of the rotation shaft 18a, and the virtual viscosity coefficient C is proportional to the rotation angular velocity of the rotation shaft 18a. The virtual moment of inertia M is a coefficient for causing the powder brake 14 to exert the braking torque in proportion to the rotational angular acceleration of the rotating shaft 18a. Each of these coefficients may be set in advance by an experiment or the like, or may be appropriately set by a walking trainer.

From the above, the impedance control of the powder brake 14 performed in S202 is based on the assumption that the powder brake 14 is virtually provided with a spring having a spring constant K, a damper having a viscosity coefficient C, and an inertial body having an inertia moment M. The generated torque is generated in the controllable powder brake 14, and the braking torque is transmitted to the gait trainer as if it were a shock absorber. Specifically, the braking torque τ exhibited by the powder brake 14 by impedance control is controlled according to the following equation.
τ = K · θ + C · θ ′ + M · θ ″ (Formula 1)
Here, θ is the angle of the rotating shaft 18a, θ ′ is the angular velocity of the rotating shaft 18a, and θ ″ is the angular acceleration of the rotating shaft 18a.

Here, in the above formula (1), the case where the virtual moment of inertia M = 0 and the virtual viscosity coefficient C = 0 may be particularly referred to as compliance control or stiffness control. Also,
The case where the virtual moment of inertia M = 0 and the virtual spring constant K = 0 is sometimes called damping control. In the present invention, these control methods are also defined as impedance control.

  When the process of S202 is completed, the processes after S106 described above are sequentially performed. Here, in the collapse of the body of the gait trainer, the speed is relaxed by the second term of the formula (1), and the acceleration is relaxed by the third term of the formula. Further, the spring term of the first term of the same formula prevents the walking trainer from falling over at a distance corresponding to the set parameters (M, K, C). In the fall prevention device 10, if an actual spring is installed, a restoring force is generated by the spring. However, when the powder brake 14 is used, the restoring force by the spring cannot be generated. As a result, as shown in FIG. 6, if a real spring is set, even if it vibrates originally as shown by the line L2 in FIG. 6, it does not vibrate because the restoring force does not act on the line L1. As shown, the movement of the gait trainer stops at the position where it falls most, and its fall is prevented. This is the difference between using an actual spring and using the powder brake 14, but it is better to be supported in a stationary state than when the gait trainer vibrates to prevent the gait trainer from falling. It seems desirable.

  According to the fall prevention process shown in FIG. 5, when the body of the gait trainer is not collapsed, it is possible to perform the gait training in a state in which the load applied to the gait trainer is reduced by the weight relief device 30. . On the other hand, when it is determined that there is a possibility that the body of the walking trainer collapses and falls, the braking torque of the powder brake 14 prevents the walking trainer from falling. Particularly, since the braking torque is controlled by impedance control in the powder brake 14, the impact acting on the walking trainer when braking the powder brake 14 can be minimized.

  Further, in the fall prevention processing shown in FIGS. 4 and 5, the walking trainer's stand-up / posture determination is performed by the remote control switch 21 which is an ON-OFF switch. A switch (for example, a push switch) that is in an OFF state while the trainee is pressing the switch and that is automatically turned on when the switch is released may be used. Even when a push switch is used, the fall prevention process can be performed in the same flow as in FIGS. The remote control switch 21 that requires an ON-OFF operation is different from the remote control switch 21 in FIG. 4 after the fall is prevented by S105 of FIG. 5 or S202 of FIG. It is in the OFF state, and support for starting up is provided by the weight-loading force by the weight-unloading device 30, and after the walking trainer is confirmed to start up, the switch is automatically turned on simply by releasing the push switch. It is said that walking training can be resumed. Further, even when the gait trainer is standing up and loses balance again and is about to fall, it is possible to prevent the fall by the determination of S104 by simply releasing the hand from the push switch.

  In the above embodiment, the brake torque is released when the gait trainer stands up using the remote control switch 21 or the like. However, the brake torque is automatically released using various sensors instead of the switch. Can also be done. One example thereof will be described with reference to FIGS. Here, in the walking support device 1 shown in FIG. 7, the load cell 7 is attached between the rope 3 and the harness 5 in order to measure the tension of the rope 3 that lifts the walking trainer. The force information is sent to the control device 20, and the rise of the gait trainer can be determined based on the force information. The walking support device 1 shown in FIG. 7 is not provided with the remote control switch 21 shown in FIG.

Here, FIGS. 8 and 9 show a flow of the overturn prevention process when the load cell 7 is used. The fall prevention process shown in FIG. 8 corresponds to the fall prevention process shown in FIG. 4 and is a useful process for preventing the fall of a walking trainer at an early stage. Moreover, the fall prevention process shown in FIG. 9 corresponds to the fall prevention process shown in FIG. 5, and is a process useful for alleviating an impact when supporting a walking trainer. Also, among the fall prevention processes shown in FIGS. 8 and 9, the same processes as those in the fall prevention process shown in FIGS. 4 and 5 are denoted by the same reference numerals, and detailed description thereof is omitted. To do.

  First, in the fall prevention process shown in FIG. 8, the process of S109 is deleted from the fall prevention process shown in FIG. 4, and the processes of S105 and S106 are replaced with the processes of S401 to S405. In this fall prevention process, if an affirmative determination is made in S104, the process of S401 is performed. In S401, the current position X of the gait trainer is measured by the encoder 15 as in S103. Next, in S402, the braking torque is controlled by the powder brake 14 in the same manner as in S105 described above, in order to prevent the walking trainer from falling. Thereafter, according to whether or not the rope 3 is stationary based on the rotation angle, rotation angular velocity, etc. of the rotation shaft 18a obtained from the measurement result measured in S401, whether or not the walking trainer has been prevented from falling in S403. Determined. If an affirmative determination is made in S403, the process proceeds to S404. If a negative determination is made, the processes from S401 onward are repeated.

  In S404, the load cell 7 measures the tension W of the rope 3 lifting the walking trainer. Thereafter, in S405, it is determined whether or not the rope tension W measured in S404 is equal to or less than a predetermined tension value W0. The predetermined tension value W0 is a reference tension value of the rope 3 that has become loose when the walking trainer stands up in a state where braking by the powder brake 14 is applied. This reference tension value is set in S101. If an affirmative determination is made in S404, the processing after S107 is performed, and if a negative determination is made in S404, the processing after S404 is repeated again.

  Next, in the fall prevention process shown in FIG. 9, the process of S402 is replaced with S410 in the fall prevention process shown in FIG. And the process of S410 performs the impedance control of the powder brake 14 similarly to the process of S202 mentioned above.

  Thus, according to the fall prevention processing shown in FIGS. 8 and 9, when the walking trainee tries to stand up after the fall of the walking trainee, the powder brake 14 is in a state in which braking torque is applied. The attached rotating shaft 18a does not rotate, and the tension of the rope 3 lifting the walking trainer decreases (the rope loosens). Therefore, the process of S405 determines whether the walking trainer is standing up based on whether or not the measured value W of the load cell 7 is equal to or lower than a predetermined tension value W0 set in advance. In this way, after the walking trainer's rising is confirmed through the load cell 7, by releasing the powder brake 14, the weight training force acts on the walking trainer, thereby supporting the rising. . In this case as well, even if the gait trainer is about to fall again while standing, support by the fall prevention device 10 is performed again.

Similar to the second embodiment, another embodiment for automatically releasing the brake torque using various sensors or the like will be described with reference to FIGS. Here, in the walking support apparatus 1 shown in FIG. 10, the force sensor 8 (the right foot force sensor 8a and the left foot force sensor are measured at the foot of the walking trainer) is measured at the foot of the walking trainer. 8b, which is collectively referred to as force sensor 8). Then, the load information from the force sensor 8a and the force sensor 8b is sent to the control device 20, and the rising of the walking trainer can be determined based on the total value thereof. 10 is not provided with the remote control switch 21 shown in FIG. Further, as long as the force sensor 8 can measure the load on the soles of the gait trainer's feet, a plurality of force sensors 8 may be installed on the pedestrian where the gait training is performed even if they are attached to the soles of the gait trainers. The force sensor 8 may be laid down.

  Here, FIG.11 and FIG.12 shows the flow of the fall prevention process when the force sensor 8 is used. The fall prevention process shown in FIG. 11 corresponds to the fall prevention process shown in FIG. 4 and is a useful process for preventing the fall of a walking trainer at an early stage. Moreover, the fall prevention process shown in FIG. 12 corresponds to the fall prevention process shown in FIG. 5, and is a process useful for alleviating an impact when supporting a walking trainer. Also, among the fall prevention processes shown in FIGS. 11 and 12, the same processes as those in the fall prevention process shown in FIGS. 4 and 5 are denoted by the same reference numerals, and detailed description thereof is omitted. To do.

  First, in the fall prevention process shown in FIG. 11, the process of S109 is deleted from the fall prevention process shown in FIG. 4, and the processes of S105 and S106 are replaced with the processes of S501 to S505. In this fall prevention process, if an affirmative determination is made in S104, the processes of S501 to S505 are performed. Here, the processing of S501 to S503 is the same as the processing of S401 to S403 in the second embodiment, and detailed description thereof will be omitted. Therefore, the case where an affirmative determination is made in S503 and the process proceeds to S504 will be described below.

  In S <b> 504, the force sensor 8 measures the load Q on the sole of the walking trainer. Thereafter, in S505, it is determined whether or not the sole load Q measured in S504 is equal to or greater than a predetermined load Q0. This predetermined load Q0 is a reference value of the load on the soles of the feet when the walking trainer recovers the posture that has been lost and the weight of his / her legs is supported by both legs. The reference value of this load is set in S101. If an affirmative determination is made in S504, the processing after S107 is performed, and if a negative determination is made in S504, the processing after S504 is repeated again.

  Next, in the fall prevention process shown in FIG. 12, the process of S502 is replaced with S510 in the fall prevention process shown in FIG. And the process of S510 performs the impedance control of the powder brake 14 similarly to the process of S202 mentioned above.

  As described above, according to the fall prevention processing shown in FIGS. 10 and 11, if the walking trainer tries to stand up after the fall of the walking trainer is prevented, a force is applied to the sole of the walking trainer. Focusing on this, the process of S505 determines whether or not the walking trainer has started up based on whether or not the measured value Q of the force sensor 8 is equal to or greater than a predetermined load Q0 set in advance. In this way, after the walking trainer's rising is confirmed through the force sensor 8, by releasing the powder brake 14, the weight training force acts on the walking trainer, thereby supporting the rising. The In this case as well, even if the gait trainer is about to fall again while standing, support by the fall prevention device 10 is performed again.

<Examples regarding detection of collapse of walking trainers>
In the fall prevention device up to the above, the position of the gait trainer is measured by the encoder 15 installed on the rotary shaft 18a around which the rope is wound, but a measuring instrument such as a potentiometer is used instead of the encoder 15. Also good. In addition, by attaching an accelerometer or inclinometer to the body of the walking trainer (for example, the waist) and measuring the high acceleration and tilt of the body during a fall, the fall of the walking trainer is detected and the rise is detected. Also good. Further, a goniometer that measures the angle of the joint may be attached to the joint of the body (particularly the leg), and the collapse of the walking trainer may be detected or the rise may be detected based on the bending angle of the joint (for example, the knee joint). In addition, markers are attached to the joints and lower back of the body, and the position, speed, and acceleration of the markers are measured with a camera installed inside or outside the walking support device to detect collapse and fall detection of walking trainers. You may do it.

It is a 1st figure which shows the structure of the walk assistance apparatus provided with the fall prevention apparatus which concerns on this invention. It is a 1st figure which shows the structure of the fall prevention apparatus which concerns on this invention. It is a 2nd figure which shows the structure of the fall prevention apparatus which concerns on this invention. It is a 1st flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG. It is a 2nd flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG. It is a figure which shows a movement of a gait trainer when the fall prevention process shown in FIG. 5 is performed. It is a 2nd figure which shows the structure of the walk assistance apparatus provided with the fall prevention apparatus which concerns on this invention. It is a 1st flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG. It is a 2nd flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG. It is a 2nd figure which shows the structure of the walk assistance apparatus provided with the fall prevention apparatus which concerns on this invention. It is a 1st flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG. It is a 2nd flowchart which shows the process for preventing the fall at the time of walking training of a walking trainer performed in the walking assistance apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Walk support device 2 ... Body frame 3 ... Rope 7 ... Load cell 8 ... Force sensor 10 ... Fall prevention device 12 ... Drum 13 ... ... Drum 14 ... Powder brake 15 ... Encoder 18a, 18b, 18c, 18d, 18f ... Rotary shaft 20 ... Control device 30 ... Weight-loading device 31 ... ···rope

Claims (7)

Provided in a walking support device having a support member that supports the trainer by lifting the trainer on the walking support device body so that the walking trainer is ready for walking training, detecting a collapse of the posture of the walking trainer and causing a fall A fall prevention device for preventing,
A displacement part that is provided on the walking support device main body side and is displaced with the movement of the walking trainer by connecting the support member;
A braking brake for applying a braking force to the support member;
Based on the displacement state of the displacement unit, a detection unit that detects or estimates the collapse of the body of the walking trainer, and
A braking force control unit that controls a braking force applied from the braking brake to the support member based on a detection result of the detection unit;
A fall prevention device for walking training, comprising: The detection unit detects or estimates collapse of the body of the walking trainer based on at least one of a displacement distance of the displacement unit, a displacement speed of the displacement unit, and a displacement acceleration of the displacement unit.
The fall prevention device for walking training according to claim 1. The displacement part can take up or unwind the connected support member by performing rotational displacement,
The detection unit detects or estimates collapse of the walking trainer's body based on at least one of the rotation angle of the displacement unit, the rotation angular velocity of the displacement unit, and the rotation angle acceleration of the displacement unit.
The fall prevention device for walking training according to claim 1. When the detection unit detects or estimates that the walking trainee's body collapses, the braking force control unit applies the braking brake so that a braking force that restricts the movement of the support member is applied to the support member. To control the
The fall prevention device for walking training according to any one of claims 1 to 3. When the detection unit detects or estimates the collapse of the body of the walking trainer, the braking force control unit is at least one of a displacement distance of the displacement unit, a displacement speed of the displacement unit, and a displacement acceleration of the displacement unit. Controlling the brake so that a braking force according to the above is applied to the support member;
The fall prevention device for walking training according to any one of claims 1 to 3. Linking with the support member, a load-carrying member that loads the weight of the gait trainer,
The fall prevention device for walking training according to any one of claims 1 to 5, further comprising: A fall prevention device for walking training according to any one of claims 1 to 6,
The walking support device main body, the walking support device main body movable with the walking trainer,
The support member;
A walking support device.

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