JP2010131059A - Walking stick with roller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking stick with a roller that can always stably support the upper body with the same convenience as the plain stick without generating an idle leg phase. <P>SOLUTION: Provided is the walking stick with a roller, wherein a support portion 4 for supporting the body is provided on the stick body portion 2 and a roller portion 3 which comes in contact with a road surface is provided at the lower end of the stick body portion 2. The roller portion 3 is a braking roller which adds a braking force while the roller portion 3 is rotated by the load from the support portion 4. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a cane with a roller provided with a support part for supporting a body on a cane body part, and a roller part contacting a road surface at a lower end part of the cane body part.

  People who have difficulty in walking, such as those with weak legs, usually use a cane that supports their body when walking inside or outside the door to prevent falls.

  As a cane that supports the body, various shapes such as a simple rod-shaped object, an object having two or more fulcrums at the tip, and an object that rotates so that the fulcrum is stabilized have been proposed. These walking sticks must be lifted and moved in synchronism when the supporting leg on the side holding the walking stick becomes a swing leg phase during walking.

  Therefore, the body becomes unstable while the cane is being lifted (that is, while the cane is floating), immediately before and after the grounding, and can only be used by people with a relatively high degree of independence. Therefore, a walker, a walking car, and the like have been proposed as a welfare instrument that improves stability over a cane. Some walker etc. are highly stable and have a roller attached to the lower end so as to be in contact with the ground. In addition, a technique for improving stability by using a plurality of canes or providing a plurality of rollers is also disclosed (for example, see Patent Document 1).

On the other hand, as a use of the cane, it may be used for a visually impaired person. In this case, a visually handicapped person uses a cane to check the road surface condition and the condition of an obstacle, not to support the body. However, visually impaired persons always need to check the surrounding situation while lifting the cane, which is a heavy burden. In order to reduce this burden, for example, a cane is known in which a roller is attached to a tip portion where the cane contacts the ground (see, for example, Patent Document 2 and Patent Document 3).
JP 2002-142822 A Utility Model Registration No. 3106760 JP-A-10-124758

  Here, there are various situations in which the cane is used. For example, it may be used to support the body (upper body). Specifically, it is assumed to be used when the upper limb is supported with a walking stick during walking, or when the body is supported when standing from a lying or sitting state.

  However, when the above-mentioned cane with a roller is used, there is a problem that the roller attached to the tip of the cane rotates, so that the body cannot be stably supported and is difficult to use as a cane. For example, when a user tries to use a cane when standing up from a sitting state, there is a problem that the roller cannot roll and the body cannot be supported well by the cane.

  Furthermore, when the user is about to fall over for some reason while walking, the roller at the tip of the cane cannot be supported, and as a result, the fall cannot be prevented.

  Moreover, although the above-mentioned walker, walking car, etc. are supporting and supporting a user's body, since several rollers are attached, apparatus itself will become large sized. Therefore, there is a problem that it is difficult to make a small turn in the room and the range of use is limited.

  In view of the above-described problems, an object of the present invention is to provide a cane with a roller that can stably support the upper body at all times without generating a swinging phase with the same ease as a cane. That is.

  In view of the above-described problems, the cane with a roller according to the present invention is a cane with a roller provided with a support part for supporting the body on the cane body part and a roller part contacting the road surface at the lower end part of the cane body part. The roller unit is a brake roller that is rotated by a load from the support unit and applies a braking force.

  Moreover, the cane with a roller of the present invention further has a cane state detection means for detecting the state of the cane with the roller, and the roller unit is in accordance with the state of the cane with the roller detected by the cane state detection means, A braking force is added.

  In the cane with a roller according to the present invention, the cane state detecting means detects the state of the cane with the roller by measuring the rotation speed and / or acceleration of the brake roller.

  In the cane with a roller of the present invention, the cane state detecting means detects the state of the cane with the roller by measuring an inclination angle of the cane body.

  Moreover, the cane with a roller of the present invention further includes a walking state estimation unit that estimates a walking state of a user of the roller cane, and the roller unit is in accordance with the walking state estimated by the walking state estimation unit. , And adding a braking force.

  In the cane with a roller according to the present invention, the brake roller is rotated by a load on the brake roller, and a braking force is applied by viscous resistance generated by the rotation of the roller unit. .

  In the cane with a roller according to the present invention, the brake roller is applied with a braking force by an electromagnetic roller.

  According to the present invention, in the cane with a roller provided with a support part for supporting the body on the cane body part and a roller part contacting the road surface at the lower end part of the cane body part, the roller part is separated from the support part. A brake roller for applying a braking force according to the load is attached. Thus, for example, when the load from the support portion is small, the braking force of the brake roller is reduced, and conversely, when the load from the support portion is large, the braking force of the brake roller is increased to use the user's wand. The braking force can be changed according to the situation.

  Moreover, according to this invention, the state of a cane with a roller can be detected, and braking force can be added to a brake roller according to the detected state of the cane with a roller. Therefore, it is possible to apply an appropriate braking force to the brake roller by determining the state in which the cane with the roller is used.

  Moreover, according to this invention, the state of a cane with a roller will be detected by measuring the rotational speed and / or acceleration of a brake roller. For example, when the rotational speed (acceleration) is large, the braking force is increased, and conversely, when the rotational speed (acceleration) is small, the braking force is decreased to better suit the user's walking state (usage state). Control becomes possible.

  Moreover, according to this invention, the state of a cane with a roller will be detected by measuring the inclination angle of a cane main-body part. For example, when the inclination angle of the cane body is close to vertical (0 degrees) with respect to the ground contact surface such as the floor, the user's body can be supported more stably by increasing the braking force. .

  Moreover, according to this invention, the user's walking state of a cane with a roller is estimated, and braking force will be added according to the estimated walking state. For example, when starting to walk, the load on the cane body changes during walking. Therefore, more appropriate roller control can be performed by applying a braking force according to the user's walking state.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, an embodiment when a brake roller having viscous resistance is used as a brake roller attached to a cane with a roller will be described.

  FIG. 1 is a diagram showing an overview of a cane 1 with a roller when the present invention is applied. As shown in FIG. 1, the cane 1 with a roller has a long stick-shaped cane body 2, a support part 4 is provided on the upper part of the cane body 2, and a roller part 3 is attached to the lower end part. Has been.

  The cane main body 2 has a rod-like shape extending straight, and may be any material such as a metal material such as aluminum or a plastic material. In addition, the cane main body 2 is formed with a straight rod-like body having a length that matches the posture and body length of the user, or a structure that is adjustable in length such as a telescopic type and a folding type. It may be the structure.

  The support part 4 is a location which becomes a fulcrum when the user of the cane 1 with a roller grips and supports the body. In the support part 4, a non-slip structure (a material or a shape having a high frictional resistance) for a user to grip is formed on the surface.

  2A and 2B are enlarged views of the roller unit 3, in which FIG. 2A is a side view and FIG. 2B is a front view. As shown in FIG. 2, the roller portion 3 is formed on a metal (or hard resin) frame 32 that has an overall U-shape when viewed from one side perpendicular to the central axis direction of the cane body portion 2. A shaft 34 is fixed to the frame 32 so as to cross the space 32 a that opens below the frame 32, and a brake roller 36 is rotatably installed on the frame 32 around the shaft 34. The frame 32 is fixedly joined to the lower end of the cane body 2 (which may be either welded or screwed), and a left and right wall 32c extending downward from the left and right of the base 32b so as to surround the space 32a. The shaft 34 is disposed so as to penetrate through the center in the planar direction of the left and right wall portions 32c.

  Here, the brake roller 36 will be briefly described. The brake roller 36 rotates according to the load, and applies a braking force to the roller portion using viscous resistance generated by the rotation. As the load force increases, the rotation of the roller portion increases (rotational acceleration increases), and the applied braking force increases.

  As an example, the brake roller 36 is hollow, a hub (not shown) is fixed to the shaft 34, and a hollow roller body rotates around the hub. The roller body has a large number of blades (rotation resistance plates) so that the roller body is formed in a cylindrical side surface whose outer circumferential surface in the radial direction is in contact with the road surface. Is provided. In addition, a blade (fixed resistance plate) is also fixed to the hub, and extends toward the gap between the rotation resistance plates in the inner space of the roller body. Moreover, the fluid (for example, viscous oil) which has viscosity is accommodated in the internal space of a roller main body. This fluid collects on the lower side when the roller is in contact with the floor or the like.

  Here, when the roller body rotates, the rotation resistance plate also rotates at the same time, but rotates while pushing away the fluid. That is, the fluid braked by the fixed resistance plate hinders the rotational movement of the rotation resistance plate, so that a braking force is applied to the roller body. Further, when the rotation speed of the roller increases, the resistance force that hinders the rotational movement of the slats increases, so that a larger braking force is applied.

  Here, the force which concerns on the cane 1 with a roller is demonstrated using FIG. As shown in FIG. 3, when a user of the cane 1 with a roller applies a load force A such as holding the support part 4 of the cane body 2 and applying weight, the load force A is the length of the cane body 2. It travels along the direction and joins the roller 3 at the lower end. The load force A can be considered as being decomposed by the roller portion 3 into a force F1 directed in the direction perpendicular to the road surface and a force F2 parallel to the road surface. The brake body 36 rotates with respect to the hub in the brake roller 36 due to the force F2 parallel to the road surface and exerts the braking force F. Therefore, the brake roller 36 does not rotate more than necessary, and the user leans against the cane 1 with the roller. You can support your body stably even if you walk. Various types of braking force (braking force following the speed, braking force corresponding to the acceleration, etc.) and the magnitude can be set in advance. In addition, the braking force can be set at a certain value, or can be set to a minimum value or a maximum value.

  FIG. 4 is a diagram for explaining a specific braking force. The horizontal axis indicates the magnitude of the force (load force A), and the vertical axis indicates the braking force (brake ratio, resistance force). When the braking force is “0%”, the resistance is not added, and when it is “100%”, the resistance is large (that is, the brake is applied).

  FIG. 4A is a graph when the user performs brake control on a conventional normal roller, and FIG. 4B is a graph when the brake roller in the present embodiment is used. When it is desired to stop the rotation of the roller with a predetermined load force (designated force), the conventional brake control stops suddenly with the designated force as a boundary.

  In contrast, when the brake roller of FIG. 4B is used, the braking force is applied in stages until the specified force. That is, although the load state changes according to the walking state, the braking force is applied stepwise according to the load state.

  Thereby, even when the user supports the body (state) with the cane 1 with a roller, if the load force increases, the rotational speed and rotational acceleration at which the roller portion rotates increases, thereby increasing the braking force. Is greatly added and the brake roller 36 stops. Conversely, when the load force is small as during walking, the applied braking force is reduced by reducing the rotational speed and rotational acceleration at which the roller portion rotates. Therefore, the brake roller 36 is easy to rotate, and convenience is enhanced as an aid for walking. Therefore, the user can always support the body stably using the cane 1 with a roller.

  In the above-described embodiment, the brake force is applied as an example of the brake roller by using the viscous resistance. However, the brake roller having another structure, the brake roller using the magnetic fluid, or the like is used. Of course, it is also good. That is, any brake roller may be used as long as the brake roller is rotated by a load and a braking force is applied by using a resistance force generated by the rotation.

  As an example, consider a brake roller having a rotating body with a resistance plate disposed inside the brake roller. The outer peripheral part of the brake roller and the rotating body are connected to each other by a speed increasing gear around the shaft. When the outer peripheral part rotates, the inner rotating body rotates at a high speed by the speed increasing gear. By this rotation, a vertical drag is generated from the roller center (axial direction) against the resistance plate due to the centrifugal force applied to the rotating body. By this vertical drag, the resistance plate and the inner peripheral portion of the brake roller are brought into contact with each other, thereby generating a frictional force. By using this frictional force, a brake roller to which a braking force is applied can be realized.

[Second Embodiment]
Next, the second embodiment will be described. 2nd Embodiment demonstrates the case where electrical control is performed by using an electromagnetic roller as a brake roller.

  In FIG. 5, the general view of the cane 5 with a roller in this embodiment is shown. In the cane 5 with a roller, a battery 11 is built in the cane body 2. By supplying power from the battery 11, the control unit and the brake roller can be controlled. Here, the battery 11 may be any battery such as a rechargeable battery (such as a lithium battery) or a commercially available power source (such as a dry battery).

  In addition to the brake roller 9, the roller unit 7 includes a control unit 13 and a roller state measuring device 15.

  The brake roller 9 is an electromagnetic roller using a powder clutch / brake, and can apply a braking force by electrical control. In the present embodiment, the powder clutch / brake is described as being used, but it is needless to say that the present invention can also be realized by using other clutches such as a hysteresis clutch / brake or an induction motor.

  The control unit 13 is a functional unit that controls the cane 5 with a roller. Moreover, the control part 13 can also measure the inclination angle of the cane 5 with a roller (cane main-body part 2). When the cane 5 with a roller is 0 degree when it is perpendicular to the ground surface, when it is inclined to the user side, it is an angle of “+”, and when it is inclined to the opposite side (that is, the direction of travel of the user), “− ”As an angle.

  The roller state measuring device 15 is a device that measures the state of the brake roller 9. Specifically, the rotational speed and acceleration of the brake roller 9 are measured. Moreover, it can also measure about the load force (the load force which concerns on the brake roller 9) which concerns on the cane 5 with a roller.

  Then, the block diagram of the cane 5 with a roller is shown in FIG. As shown in the figure, the cane 5 with a roller has a CPU 100, a brake roller 110, a brake control unit 120, a power supply unit 130, a walking state estimation unit 140, a load measurement unit 150, and a rotation speed measurement unit 160. The rotational acceleration measuring unit 170 and the tilt angle measuring unit 180 are connected.

  The CPU 100 is a functional unit that controls the cane 5 with a roller. The state (cane state) of the cane 5 with a roller is measured from the values measured by the connected measuring units, and a control signal is output to the brake control unit 120. Moreover, a brake control signal is output based on the walking state input from the walking state estimation unit 140. Here, the state of the cane 5 with a roller (cane state) represents the overall state of the cane. For example, the rotation speed of the brake roller 9, the rotation acceleration, the load force related to the cane body 2, This is a state determined by detecting an inclination angle or the like.

  The brake roller 110 and the brake control unit 120 are rollers that electrically perform brake control based on a control signal from the CPU 100. When a control signal of 0 to 100% is input from the CPU 100 to the brake control unit 120, a braking force is applied according to the input control signal, and the brake is operated.

  The power supply unit 130 is a functional unit that supplies power for operating the cane 5 with a roller, and is the same as the battery 11 in FIG.

  The walking state estimation unit 140 is a functional unit for estimating the walking state of the user. For example, the required load force differs between the start of walking and the stable walking. In order to change the brake control according to these walking states, the walking state of the user is estimated.

  For example, FIG. 7 is a table used when the walking state estimation unit 140 estimates the walking state. When the rotation time of the roller (elapsed time after the roller starts to rotate) is “0 to 1 second”, the walking state is estimated as “at the start of walking”. Further, when the rotation time of the roller is “1 second”, the walking state is estimated to be during normal running. Depending on the walking state, even with the same load force, it is possible to control such that the braking force is reduced at the start of walking and the braking force is increased during normal walking.

  The load measuring unit 150 is a functional unit that measures a load applied from the user in the support unit 4. The load force A measured by the load measuring unit 150 is output to the CPU 100. Based on the input load force A, the CPU 100 outputs a control signal for controlling the brake roller 110 to the brake control unit 120. Here, since the state of the brake control in the load measuring unit 150 is the same as the control described in FIG. 4, the detailed description thereof is omitted.

  The rotational speed measuring unit 160 is a functional unit that measures the rotational speed of the brake roller 9. The rotation speed V measured by the rotation speed measurement unit 160 is output to the CPU 100. Based on the input rotation speed V, the CPU 100 outputs a control signal for controlling the brake roller 110 to the brake control unit 120.

  FIG. 8 is a diagram for explaining the brake control according to the rotation speed. FIG. 8A is a graph showing conventional brake control, and FIG. 8B is a graph showing brake control in this embodiment.

  As shown in FIG. 8A, in the conventional case, when the user does not brake, no braking force is applied even if the specified speed is exceeded. Therefore, even if the roller suddenly rotates due to a fall or the like, the brake is not applied and the fall cannot be prevented.

  In the case of this embodiment, as shown in FIG. 8B, the braking force is applied stepwise around the designated speed. Therefore, when the brake roller 9 rotates suddenly due to falling or the like, a larger braking force is applied, that is, the brake is applied. Therefore, the user can be prevented from falling.

  The rotational acceleration measuring unit 170 is a functional unit that measures the rotational acceleration of the brake roller 9. The rotational acceleration a measured by the rotational acceleration measuring unit 170 is output to the CPU 100. The CPU 100 outputs a control signal for controlling the brake roller 110 to the brake control unit 120 based on the input rotational acceleration a.

  FIG. 9 is a diagram for explaining the brake control according to the rotational acceleration. FIG. 9A is a graph showing conventional brake control, and FIG. 9B is a graph showing brake control in this embodiment.

  As shown in FIG. 9A, in the conventional case, when the user does not brake, no braking force is applied even if the specified acceleration is exceeded. Therefore, even if the roller suddenly rotates due to a fall or the like, the brake is not applied and the fall cannot be prevented.

  In the case of this embodiment, as shown in FIG. 9B, the braking force is applied stepwise around the designated acceleration. Therefore, when the brake roller 9 rotates rapidly due to a fall or the like, a larger braking force is applied, and the brake is applied. Therefore, the user can be prevented from falling.

  The tilt angle measurement unit 180 is a functional unit that measures the tilt angle of the cane 5 with a roller (cane body unit 2). The tilt angle s measured by the tilt angle measuring unit 180 is output to the CPU 100. The CPU 100 outputs a control signal for controlling the brake roller 110 to the brake control unit 120 based on the input tilt angle s.

  FIG. 10 is a diagram for explaining the brake control according to the inclination angle. FIG. 10A is a graph showing conventional brake control, and FIG. 10B is a graph showing brake control in the present embodiment.

  As shown in FIG. 10A, in the conventional case, the braking force becomes “0%” when a predetermined inclination angle is exceeded. Therefore, for example, even when the user is about to fall (that is, when the inclination angle suddenly increases), the braking force (brake) to the roller is “0%”, and the fall can be prevented. Absent.

  In the case of this embodiment, as shown in FIG. 10B, the braking force (brake) to the roller is set to “0%” around the specified angle. Here, when the designated angle increases, the braking force is applied again. Therefore, it is possible to prevent a fall. Further, when the designated angle is “−” (that is, when the cane 5 with a roller is inclined in the direction opposite to the user), the braking force is similarly set to “100%” to prevent overturning. It becomes possible.

  Thus, according to the present embodiment, each brake control can be performed according to the cane state such as the rotation speed, the rotation acceleration, the inclination angle, and the load force of the cane 5 with a roller. That is, it is possible to determine a situation in which the user is using the cane from the cane state, and to control the braking force on the brake roller according to the situation in which the user is using the cane. Thereby, the user can always support the body stably.

  In addition, although each demonstrated in this embodiment, it is also possible to combine several conditions. For example, it is good also as performing control which determines a cane state combining a rotational speed and a rotational acceleration, and adds braking force.

[Modification]
The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiment, and the design and the like within the scope not departing from the gist of the present invention are also claimed. include.

  Moreover, although the support part 4 mentioned above was demonstrated as a form which a user hold | grips, it is not restricted to such a form.

  Specifically, in the cane with a roller according to the present embodiment, various support structures can be employed for the support portion. The support structure includes one that uses one cane with one hand, for example, a one-handed cane that the user fixes to the support part including the elbow, or a fulcrum where the elbow is located on the cane body part of the cane. A one-elbow support structure in which a horizontal handle is extended laterally from the vicinity of the fulcrum and a gripping part is provided at the tip to stabilize the forehead, and a fulcrum where the armpit is located on the cane body of the cane. It is also applicable to a cane that employs a so-called Matsuba cane-like armpit support structure that is provided and has a gripping portion provided below the fulcrum for forearm stabilization.

  In addition, the other support structure is a structure in which both canopies are supported by one cane, and two gripping portions are provided at intervals on one cane body portion so that the user can hold each gripping portion with both hands. A two-handed cane having a structure in which the handle is supported by holding or a structure in which a horizontal handle is provided on the cane body and each end of the handle is held by both hands can be employed. In addition, the elbow support structure in which a horizontal handle is extended from both ends of the above-mentioned two-handed cane and a gripping part is provided at each of the tip parts for stabilizing the forehead, and in addition to the both-elbow support structure, A chest support structure provided with a fulcrum for supporting the chest can also be employed.

  Moreover, you may further provide the brake mechanism in the cane 1 with a roller mentioned above. That is, a brake lever is provided in the vicinity of the support portion 4. The roller unit 3 is provided with a brake mechanism (for example, a drum brake). And a brake lever and the brake mechanism of the roller part 3 are connected with a brake wire. When the user grips the brake lever, the brake mechanism is activated via the brake wire, and the brake is applied to the roller unit 3. Thereby, the user can stop the rotation of the brake roller at an arbitrary timing.

  In the second embodiment described above, the electromagnetic roller is used to vary the braking force based on the measurement value of each functional unit. However, it is of course possible to use a brake roller whose viscosity resistance is variable. It is. That is, it can be realized by increasing or decreasing the braking force by varying the viscous resistance according to the control signal instead of the electromagnetic roller as the brake roller.

  Specific examples of the cane 1 with a roller in the above-described embodiment will be described below. FIG. 11 is an explanatory diagram of the use of the cane 1 with a roller according to the embodiment. In the figure, the same reference numerals are given to the same parts as those in the embodiment. In FIG. 11, the user H shows a state where the upper support portion 4 of the cane body 2 is gripped and a load force A due to body weight is applied to the cane body 2.

(Prerequisite)
[1] The weight m of the user (user) is 30 to 135 (kg) (: the lower limit is the female elderly load, the upper limit is the IEC maximum user load),
[2] The diameter w of the brake roller is 100 (mm),
[3] Maximum deceleration a _max is 1.1 (m / s ² ) (: Limit of braking acceleration that does not cause discomfort from in-house survey results)
[4] Standard deceleration rate a _standard is 0.5 (m / s ² ) (set as half of a _max )
[5] Cane load ratio α is 0.2 (a ratio of 15 to 20 kg even for a 65 kg person is 23 to 31%, and 20% is set as an unfavorable condition)
[6] Roller friction coefficient μ is 0.8 (refer to bed caster value)

(Power that supports people)
[1] Standard deceleration force F _standard = ma _standard (15 to 67.5 N)
[2] Maximum deceleration force F _max = ma _max (: 33 to 148.5 N)

(The force to grip the ground without slipping the roller surface)
[1] Roller vertical efficacy N _roll = mg α (: 58.8 to 264.6 N)
[2] Standard roller frictional force N _friction = μN _roll (: 47 to 211 N)

Conditions for embodying the above cane with roller include the following.
The brake roller 36 is a roller having a viscous resistance that generates a necessary supporting force: the roller needs to be able to exhibit a viscous resistance of 150 N (torque is 15 Nm at a diameter of 100) or more (the maximum deceleration force described above). See F _max ).
Selecting a roller surface material that does not slip and exerts a supporting force: Select a roller material that satisfies F _standard <N _friction (the above-described standard deceleration force F _standard standard roller friction force N _friction ).

  If the roller surface does not slide with respect to the road surface, the force F2 parallel to the road surface with respect to the load force A is canceled by the value of the deceleration force F (braking force), and the brake roller 36 rotates at the value of F2-F. If the value of -F is 0, stop. Therefore, the user H can support the body with the cane 1 with the roller so that the brake roller 36 does not roll too much by appropriately setting the deceleration force (braking force) F.

It is a figure which shows the general view of the cane with a roller in 1st Embodiment. It is the (a) side view and (b) front view of the roller part in 1st Embodiment. It is a figure for demonstrating operation | movement of the cane with a roller in 1st Embodiment. It is a figure for demonstrating the control (load force) in 1st Embodiment. It is a figure which shows the general view of the cane with a roller in 2nd Embodiment. It is a figure for demonstrating the structure of the cane with a roller in 2nd Embodiment. It is a table for estimating the walking state in 2nd Embodiment. It is a figure for demonstrating the control (rotation speed) in 2nd Embodiment. It is a figure for demonstrating the control (rotational acceleration) in 2nd Embodiment. It is a figure for demonstrating the control (tilt angle) in 2nd Embodiment. It is a figure for demonstrating an Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 5 Cane with roller 2 Cane body part 3, 7 Roller part 4 Support part 9 Brake roller 13 Control part 15 Roller state measuring device 32 Frame 34 Axis 36 Brake roller 100 CPU
DESCRIPTION OF SYMBOLS 110 Brake roller 120 Brake control part 130 Power supply part 140 Walking state estimation part 150 Load measurement part 160 Rotational speed measurement part 170 Rotational acceleration measurement part 180 Inclination angle measurement part

Claims (7)

In a cane with a roller that provides a support part for supporting the body on the cane body part and a roller part that contacts the road surface at the lower end part of the cane body part,
The roller part is a cane with a roller, wherein the roller part is a brake roller that is rotated by a load from the support part and applies a braking force. It further has a cane state detecting means for detecting the state of the cane with roller,
The said roller part adds the braking force according to the state of the cane with a roller detected by the said cane state detection means, The cane with a roller of Claim 1 characterized by the above-mentioned.   The cane state detecting means detects the state of the cane with a roller by measuring a rotation speed and / or acceleration of a brake roller, and the cane with a roller according to claim 2.   The said cane state detection means detects the state of a cane with a roller by measuring the inclination angle of the said cane main-body part, The cane with a roller of Claim 2 characterized by the above-mentioned. It further has walking state estimation means for estimating the walking state of the user of the cane with roller,
The said roller part adds a braking force according to the walking state estimated by the said walking state estimation means, The cane with a roller as described in any one of Claim 1 to 4 characterized by the above-mentioned.   6. The brake roller according to claim 1, wherein a roller portion of the brake roller is rotated by a load applied to the brake roller, and a braking force is applied by a viscous resistance generated by the rotation of the roller portion. Wand with roller as described in.   The wand with a roller according to any one of claims 1 to 5, wherein a braking force is applied to the brake roller by an electromagnetic roller.