JP2017051464A - 歩行訓練装置、及びその歩行訓練方法 - Google Patents
歩行訓練装置、及びその歩行訓練方法 Download PDFInfo
- Publication number
- JP2017051464A JP2017051464A JP2015178278A JP2015178278A JP2017051464A JP 2017051464 A JP2017051464 A JP 2017051464A JP 2015178278 A JP2015178278 A JP 2015178278A JP 2015178278 A JP2015178278 A JP 2015178278A JP 2017051464 A JP2017051464 A JP 2017051464A
- Authority
- JP
- Japan
- Prior art keywords
- wire
- leg
- walking
- winding mechanism
- storage amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 13
- 238000004804 winding Methods 0.000 claims abstract description 128
- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 230000005021 gait Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 88
- 210000000689 upper leg Anatomy 0.000 description 10
- 230000004308 accommodation Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4027—Specific exercise interfaces
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03516—For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0057—Means for physically limiting movements of body parts
- A63B69/0062—Leg restraining devices
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1619—Thorax
- A61H2201/1621—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5048—Audio interfaces, e.g. voice or music controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5079—Velocity sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0481—Hanging
- A61H2203/0487—Hanging upright
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/80—Weight
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0054—Features for injury prevention on an apparatus, e.g. shock absorbers
- A63B2071/0081—Stopping the operation of the apparatus
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0625—Emitting sound, noise or music
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0647—Visualisation of executed movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/065—Visualisation of specific exercise parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/15—Arrangements for force transmissions
- A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
- A63B21/153—Using flexible elements for reciprocating movements, e.g. ropes or chains wound-up and unwound during exercise, e.g. from a reel
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4007—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the chest region, e.g. to the back chest
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4009—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the waist
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/13—Relative positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
- A63B2220/24—Angular displacement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
- A63B2220/34—Angular speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/807—Photo cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/836—Sensors arranged on the body of the user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/74—Miscellaneous features of sport apparatus, devices or equipment with powered illuminating means, e.g. lights
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/01—User's weight
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Theoretical Computer Science (AREA)
- Medical Informatics (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Entrepreneurship & Innovation (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Dentistry (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Physiology (AREA)
- Primary Health Care (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
この一態様によれば、引張制御手段は、第1引張力でワイヤーを引張するように第1ワイヤー巻取り機構を制御することで、歩行補助装置の重量を低減する。これにより、訓練者の脚部における歩行補助装置の重量を免荷することができる。さらに、収納量検出手段により検出されたワイヤーの収納量が、第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間におけるワイヤーの所定収納量以下となる期間で、第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力でワイヤーを引張するように、第1ワイヤー巻取り機構を制御する。これにより、歩行補助装置が装着された脚部の振出し開始のタイミングにおいて、上記振出しの慣性力の負担を軽減でき、その脚部にかかる負担を軽減できる。すなわち、歩行補助装置の重量を免荷しつつ、振出開始のタイミングにおける訓練者の負担を軽減できる。
この一態様において、前記振出し開始期間は、前記第1ワイヤー巻取り機構の最大のワイヤーの収納量から前記収納量検出手段により検出されたワイヤーの収納量を減算した値が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量と、前記最大のワイヤーの収納量と、の所定差分量以上となる期間としてもよい。
この一態様において、前記引張制御手段は、前記第1ワイヤー巻取り機構の最大のワイヤーの収納量を前記遊脚期間毎に更新してもよい。これにより、より高精度に脚部の振出し開始のタイミングを判定でき、その振出し開始のタイミングにおける慣性力の負荷をより最適に軽減できる。
この一態様において、前記脚部に直接的又は前記歩行補助装置を介して接続されたワイヤーを巻き取ることで、前記脚部のワイヤーを上方かつ後方に引張する機構であって、前記脚部の立脚期間では前記ワイヤーを巻取り収納し、前記脚部の遊脚期間では前記ワイヤーを引出す、ように構成された第2ワイヤー巻取り機構を更に備え、前記引張制御手段は、前記収納量検出手段により検出された前記ワイヤーの収納量が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量以下となる振出し開始期間で、前記第1及び第2ワイヤー巻取り機構による引張力の水平前方成分を増加させてもよい。これにより、第1及び第2ワイヤー巻取り機構による引張力の鉛直上方成分と水平前方成分を独立して精密に制御できる。このため、歩行補助装置の重力負荷を軽減しつつ、歩行補助装置が装着された脚部の振出し開始時においてその脚部にかかる負担をより最適に軽減できる。
上記目的を達成するための本発明の一態様は、訓練者の脚部に装着され、該訓練者の歩行動作を補助する歩行補助装置と、前記脚部に直接的又は前記歩行補助装置を介して接続されたワイヤーを巻き取ることで、前記脚部のワイヤーを上方かつ前方に引張する機構であって、前記訓練者の歩行動作において前記脚部が遊脚状態となる遊脚期間では前記ワイヤーを巻取り収納し、前記訓練者の歩行動作において前記脚部が立脚状態となる立脚期間では前記ワイヤーを引出す、ように構成された第1ワイヤー巻取り機構と、第1引張力で前記ワイヤーを引張するように前記第1ワイヤー巻取り機構を制御することで、前記歩行補助装置の重量を低減する引張制御手段と、前記第1ワイヤー巻取り機構に巻き取られ収納されている前記ワイヤーの収納量を検出する収納量検出手段と、を備える歩行訓練装置の歩行訓練方法であって、前記収納量検出手段により検出された前記ワイヤーの収納量が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量以下となる振出し開始期間で、前記第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力で前記ワイヤーを引張するように、前記第1ワイヤー巻取り機構を制御する、ことを特徴とする歩行訓練装置の歩行訓練方法であってもよい。
この一態様によれば、第1引張力でワイヤーを引張するように第1ワイヤー巻取り機構を制御することで、歩行補助装置の重量を低減する。これにより、訓練者の脚部における歩行補助装置の重量を免荷することができる。さらに、収納量検出手段により検出されたワイヤーの収納量が、第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間におけるワイヤーの所定収納量以下となる期間で、第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力でワイヤーを引張するように、第1ワイヤー巻取り機構を制御する。これにより、歩行補助装置が装着された脚部の振出し開始のタイミングにおいて、上記振出しの慣性力の負担を軽減でき、その脚部にかかる負担を軽減できる。すなわち、歩行補助装置の重量を免荷しつつ、振出開始のタイミングにおける訓練者の負担を軽減できる。
以下、図面を参照して本発明の実施形態について説明する。
図1は、本発明の実施形態1に係る歩行訓練装置の概略的な構成を示す斜視図である。本実施形態1に係る歩行訓練装置1は、例えば、脳卒中片麻痺患者などの訓練者の歩行訓練を行うための装置である。歩行訓練装置1は、訓練者の脚部に装着された歩行補助装置2と、訓練者の歩行訓練を行う訓練装置3と、を備えている。
制御装置35は、例えば、第1ワイヤー巻取り機構33を制御する脚部免荷制御ユニット351と、第3ワイヤー巻取り機構34を制御する人免荷制御ユニット352と、歩行補助装置2を制御する脚部制御ユニット353と、トレッドミル31を制御するトレッドミル制御ユニット354と、これらユニットを制御するコンピュータ(PersonalComputer)355と、コンピュータ355を操作するための操作パネル356と、から構成されている。操作パネル356は、訓練指示、訓練メニュー、訓練情報(歩行速度、生体情報等)などの情報を表示する。操作パネル356は、例えば、タッチパネルとして構成されており、ユーザは操作パネル356を介して各種の情報を入力できる。
例えば、第1ワイヤー巻取り機構33のワイヤー36が引出し状態から巻取り状態へ変化するタイミングを予め実験的に求めることができる。そして、この変化のタイミングを含む期間におけるワイヤー収納量を求め、振出しタイミング判定閾値として上記メモリなどに設定する。
第1収納量検出部40は、第1ワイヤー巻取り機構33のロータに巻き取られ収納されているワイヤー収納量を検出し、検出したワイヤー収納量を制御装置35に出力する(ステップS101)。
動作判定部357は、第1収納量検出部40により検出されたワイヤー収納量に基づいて、歩行補助装置2が装着された脚部の前方への振出し開始のタイミングか否かを判定する。(ステップS102)。
以上、本実施形態1において、制御装置35は、第1引張力でワイヤー36を引張するように第1ワイヤー巻取り機構33を制御することで、歩行補助装置2の重量を低減する。これにより訓練者の脚部における歩行補助装置2の重量を免荷することができる。さらに、第1収納量検出部40により検出されたワイヤー36の収納量が、第1ワイヤー巻取り機構33のワイヤー36が引出し状態から巻取り状態へ変化するタイミングを含む期間におけるワイヤー36の所定収納量以下となる期間で、第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力でワイヤー36を引張するように、第1ワイヤー巻取り機構33を制御する。これにより、歩行補助装置2が装着された脚部の振出し開始のタイミングにおいて、上記振出しの慣性力の負担を軽減でき、その脚部にかかる負担を軽減できる。すなわち、歩行補助装置2の重量を免荷しつつ、振出開始のタイミングにおける訓練者の負担を軽減できる。
本発明の実施形態2において、第1ワイヤー巻取り機構33のワイヤー36が引出し状態から巻取り状態へ変化するタイミングを含む期間におけるワイヤー36の所定収納量と、最大のワイヤー収納量と、の所定差分量を、振出しタイミング判定閾値として上記メモリなどに設定する(図7)。上記最大のワイヤー収納量(以下、最大ワイヤー収納量)とは、例えば、第1ワイヤー巻取り機構33のワイヤー36が巻取り状態から引出し状態へ変化するタイミングにおけるワイヤー収納量であり、予め実験的に求め、上記メモリなどに設定されている。
上記実施形態において、フレーム本体32の左右フレーム323には、ワイヤー39を介して歩行補助装置2を上方かつ後方に引張する第2ワイヤー巻取り機構38が設けられる構成であってもよい(図9)。第1及び第2ワイヤー巻取り機構33、38による引張力の鉛直上方成分の合力が歩行補助装置2の重さを支える。そして、第1及び第2ワイヤー巻取り機構33、38による引張力の水平成分の合力により、脚部の振出しを補助する。
Claims (5)
- 訓練者の脚部に装着され、該訓練者の歩行動作を補助する歩行補助装置と、
前記脚部に直接的又は前記歩行補助装置を介して接続されたワイヤーを巻き取ることで、前記脚部のワイヤーを上方かつ前方に引張する機構であって、前記訓練者の歩行動作において前記脚部が遊脚状態となる遊脚期間では前記ワイヤーを巻取り収納し、前記訓練者の歩行動作において前記脚部が立脚状態となる立脚期間では前記ワイヤーを引出す、ように構成された第1ワイヤー巻取り機構と、
第1引張力で前記ワイヤーを引張するように前記第1ワイヤー巻取り機構を制御することで、前記歩行補助装置の重量を低減する引張制御手段と、
前記第1ワイヤー巻取り機構に巻き取られ収納されている前記ワイヤーの収納量を検出する収納量検出手段と、
を備える歩行訓練装置であって、
前記引張制御手段は、
前記収納量検出手段により検出された前記ワイヤーの収納量が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量以下となる振出し開始期間で、
前記第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力で前記ワイヤーを引張するように、前記第1ワイヤー巻取り機構を制御する、
ことを特徴とする歩行訓練装置。 - 請求項1記載の歩行訓練装置であって、
前記振出し開始期間は、前記第1ワイヤー巻取り機構の最大のワイヤーの収納量から前記収納量検出手段により検出されたワイヤーの収納量を減算した値が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量と、前記最大のワイヤーの収納量と、の所定差分量以上となる期間とする、ことを特徴とする歩行訓練装置。 - 請求項2記載の歩行訓練装置であって、
前記引張制御手段は、前記第1ワイヤー巻取り機構の最大のワイヤーの収納量を前記遊脚期間毎に更新する、ことを特徴とする歩行訓練装置。 - 請求項1乃至3のうちいずれか1項記載の歩行訓練装置であって、
前記脚部に直接的又は前記歩行補助装置を介して接続されたワイヤーを巻き取ることで、前記脚部のワイヤーを上方かつ後方に引張する機構であって、前記脚部の立脚期間では前記ワイヤーを巻取り収納し、前記脚部の遊脚期間では前記ワイヤーを引出す、ように構成された第2ワイヤー巻取り機構を更に備え、
前記引張制御手段は、
前記収納量検出手段により検出された前記ワイヤーの収納量が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量以下となる振出し開始期間で、
前記第1及び第2ワイヤー巻取り機構による引張力の水平前方成分を増加させる、
ことを特徴とする歩行訓練装置。 - 訓練者の脚部に装着され、該訓練者の歩行動作を補助する歩行補助装置と、
前記脚部に直接的又は前記歩行補助装置を介して接続されたワイヤーを巻き取ることで、前記脚部のワイヤーを上方かつ前方に引張する機構であって、前記訓練者の歩行動作において前記脚部が遊脚状態となる遊脚期間では前記ワイヤーを巻取り収納し、前記訓練者の歩行動作において前記脚部が立脚状態となる立脚期間では前記ワイヤーを引出す、ように構成された第1ワイヤー巻取り機構と、
第1引張力で前記ワイヤーを引張するように前記第1ワイヤー巻取り機構を制御することで、前記歩行補助装置の重量を低減する引張制御手段と、
前記第1ワイヤー巻取り機構に巻き取られ収納されている前記ワイヤーの収納量を検出する収納量検出手段と、
を備える歩行訓練装置の歩行訓練方法であって、
前記収納量検出手段により検出された前記ワイヤーの収納量が、前記第1ワイヤー巻取り機構のワイヤーが引出し状態から巻取り状態へ変化するタイミングを含む期間における前記ワイヤーの所定収納量以下となる振出し開始期間で、
前記第1引張力に代えて、該第1引張力よりも大きく設定された第2引張力で前記ワイヤーを引張するように、前記第1ワイヤー巻取り機構を制御する、
ことを特徴とする歩行訓練装置の歩行訓練方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015178278A JP6323420B2 (ja) | 2015-09-10 | 2015-09-10 | 歩行訓練装置、及びその作動方法 |
EP16183514.5A EP3141233B1 (en) | 2015-09-10 | 2016-08-10 | Walking training apparatus |
SI201630700T SI3141233T1 (sl) | 2015-09-10 | 2016-08-10 | Naprava za vadbo hoje |
CN201610815716.6A CN107019618B (zh) | 2015-09-10 | 2016-09-09 | 步行训练装置以及该步行训练装置的步行训练方法 |
US15/263,025 US10251804B2 (en) | 2015-09-10 | 2016-09-12 | Walking training apparatus and walking training method therefor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015178278A JP6323420B2 (ja) | 2015-09-10 | 2015-09-10 | 歩行訓練装置、及びその作動方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017051464A true JP2017051464A (ja) | 2017-03-16 |
JP6323420B2 JP6323420B2 (ja) | 2018-05-16 |
Family
ID=56618060
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015178278A Active JP6323420B2 (ja) | 2015-09-10 | 2015-09-10 | 歩行訓練装置、及びその作動方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10251804B2 (ja) |
EP (1) | EP3141233B1 (ja) |
JP (1) | JP6323420B2 (ja) |
CN (1) | CN107019618B (ja) |
SI (1) | SI3141233T1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20170030440A (ko) * | 2015-09-09 | 2017-03-17 | 도요타지도샤가부시키가이샤 | 보행 훈련 장치 |
JP2019122664A (ja) * | 2018-01-18 | 2019-07-25 | トヨタ自動車株式会社 | 歩行訓練装置、及びその制御方法 |
US10449107B2 (en) | 2016-12-08 | 2019-10-22 | Toyota Jidosha Kabushiki Kaisha | Gait training apparatus |
US11246784B2 (en) | 2017-02-08 | 2022-02-15 | Toyota Jidosha Kabushiki Kaisha | Walking training apparatus and method of controlling the same |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2565100B (en) * | 2017-08-01 | 2022-04-20 | Univ Limerick | Method and apparatus for false start detection |
JP7243486B2 (ja) * | 2019-06-27 | 2023-03-22 | トヨタ自動車株式会社 | 学習装置、歩行訓練システム、方法、及びプログラム |
US20210078162A1 (en) * | 2019-09-12 | 2021-03-18 | Jtekt Corporation | Assist device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006017926A1 (en) * | 2004-08-20 | 2006-02-23 | UNIVERSITé LAVAL | Locomotion simulation system and method |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
JP2012095793A (ja) * | 2010-11-01 | 2012-05-24 | Toyota Motor Corp | 歩行訓練システム |
JP2013543749A (ja) * | 2010-11-12 | 2013-12-09 | フランツ・ハラー | 治療用途ならびに歩行および走行トレーニングのための適応された牽引装置と測定装置とを有するトレッドミル・エルゴメーター |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6302829B1 (en) * | 1996-05-31 | 2001-10-16 | David H. Schmidt | Speed-control exercise method and apparatus |
DE19851511A1 (de) * | 1998-11-09 | 2000-05-11 | Steinacker Juergen M | Trainingsgerät |
US7524272B2 (en) * | 2006-06-12 | 2009-04-28 | Johnson Health Tech Co., Ltd. | Exercise machine with semi-dependent retraction system |
US7857779B2 (en) * | 2008-03-06 | 2010-12-28 | Gondringer Chad J | Traction device for use in surgery |
CN201231035Y (zh) * | 2008-07-22 | 2009-05-06 | 张庆军 | 双肩平衡减重悬挂训练装置 |
US7887471B2 (en) * | 2008-11-25 | 2011-02-15 | Mcsorley Tyrone G | Neuromuscular training apparatus and method of use |
US9498401B2 (en) * | 2011-12-20 | 2016-11-22 | Massachusetts Institute Of Technology | Robotic system for simulating a wearable device and method of use |
JP6052234B2 (ja) * | 2014-05-27 | 2016-12-27 | トヨタ自動車株式会社 | 歩行訓練装置 |
-
2015
- 2015-09-10 JP JP2015178278A patent/JP6323420B2/ja active Active
-
2016
- 2016-08-10 EP EP16183514.5A patent/EP3141233B1/en active Active
- 2016-08-10 SI SI201630700T patent/SI3141233T1/sl unknown
- 2016-09-09 CN CN201610815716.6A patent/CN107019618B/zh active Active
- 2016-09-12 US US15/263,025 patent/US10251804B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006017926A1 (en) * | 2004-08-20 | 2006-02-23 | UNIVERSITé LAVAL | Locomotion simulation system and method |
CN101862255A (zh) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | 绳索牵引下肢步态康复机器人 |
JP2012095793A (ja) * | 2010-11-01 | 2012-05-24 | Toyota Motor Corp | 歩行訓練システム |
JP2013543749A (ja) * | 2010-11-12 | 2013-12-09 | フランツ・ハラー | 治療用途ならびに歩行および走行トレーニングのための適応された牽引装置と測定装置とを有するトレッドミル・エルゴメーター |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20170030440A (ko) * | 2015-09-09 | 2017-03-17 | 도요타지도샤가부시키가이샤 | 보행 훈련 장치 |
KR101867170B1 (ko) * | 2015-09-09 | 2018-06-12 | 도요타지도샤가부시키가이샤 | 보행 훈련 장치 |
US10449107B2 (en) | 2016-12-08 | 2019-10-22 | Toyota Jidosha Kabushiki Kaisha | Gait training apparatus |
US11246784B2 (en) | 2017-02-08 | 2022-02-15 | Toyota Jidosha Kabushiki Kaisha | Walking training apparatus and method of controlling the same |
JP2019122664A (ja) * | 2018-01-18 | 2019-07-25 | トヨタ自動車株式会社 | 歩行訓練装置、及びその制御方法 |
US10925796B2 (en) | 2018-01-18 | 2021-02-23 | Toyota Jidosha Kabushiki Kaisha | Walking training apparatus and control method thereof |
Also Published As
Publication number | Publication date |
---|---|
JP6323420B2 (ja) | 2018-05-16 |
EP3141233A1 (en) | 2017-03-15 |
CN107019618B (zh) | 2020-01-10 |
EP3141233B1 (en) | 2020-03-25 |
CN107019618A (zh) | 2017-08-08 |
US10251804B2 (en) | 2019-04-09 |
SI3141233T1 (sl) | 2020-07-31 |
US20170071813A1 (en) | 2017-03-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6323420B2 (ja) | 歩行訓練装置、及びその作動方法 | |
JP6554996B2 (ja) | 歩行訓練装置、及びその歩行訓練方法 | |
JP6369419B2 (ja) | 歩行訓練装置、及びその作動方法 | |
JP6477644B2 (ja) | 歩行訓練装置およびその制御方法 | |
JP6248818B2 (ja) | 歩行訓練装置 | |
US11103415B2 (en) | Walking training system and method of controlling the same | |
JP6443301B2 (ja) | 歩行訓練装置 | |
JP6398928B2 (ja) | 歩行訓練装置 | |
JP6645253B2 (ja) | 歩行訓練装置及びその制御方法 | |
JP6787425B2 (ja) | 歩行訓練装置及びその制御方法 | |
JP6958205B2 (ja) | 歩行訓練システム | |
JP2018130236A (ja) | 歩行訓練システム | |
JP2018130233A (ja) | 歩行訓練システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170222 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20171219 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20171222 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20180209 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20180313 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180326 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6323420 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |