JP2017108975A - Gait training apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a down-sized gait training apparatus.SOLUTION: A gait training apparatus 1 includes: a leg orthosis 2 to be worn around a leg part of a trainee; a plurality of wires 22 and 23 that are connected to the leg orthosis 2 and suspend the leg orthosis 2 from an upper direction and a forward, and from the upper direction and a backward; conversion means 27 and 29 that convert extension directions of the wires 22 and 23 that extend from the trainee's leg part to the upper direction and the forward, and to the upper direction and the backward respectively; wire take-up means 26 and 28 that, in a standing period of the trainee, rewind the wires 22 and 23, the extending directions of which have been converted, however, in an idling-leg period, pull out the wires 22 and 23; and tension control means 30 that control a state of generating tension for relieving a load of the leg orthosis 2 by the wire take-up means 26 and 28. The wire take-up means 26 and 28 are disposed on lower sides than the conversion means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a walking training apparatus.

  Conventionally, as a technology in such a field, there is JP 2012-095793 A. The foot orthosis used in the walking training apparatus described in this publication is a thigh link that is mounted along the thigh of the trainee, and is swingably connected to the thigh link and is mounted along the lower thigh. A leg link to be attached to the foot, and a motor disposed in the vicinity of a portion where the thigh link and the leg link are connected. In this foot orthosis, the trainer's walking is assisted by swinging the lower leg link so as to match the walking motion by the power generated by the motor.

JP 2012-095793 A

However, since the foot orthosis used in the conventional walking training apparatus described above is heavy, it is a burden on the trainee. For this reason, the affected foot with the foot brace cannot be lifted, the clearance between the affected foot and the floor surface may not be sufficient, and a whip may occur, and walking exercise may not continue. . Therefore, it is conceivable to suspend the leg orthosis in the vertical direction with a wire etc. and to exempt the weight of the foot orthosis, but the entire structure becomes larger by installing a motor, a wire winding mechanism, etc. on the upper part of the trainee, The installation place may become more restrictive. Moreover, when a leg brace is suspended from the front upper part and the rear upper part of a trainer and a load is performed by the wire, the wire from the front upper part enters the trainee's field of view and interferes with training. Furthermore, there exists a possibility that a structure may fall at the time of a maintenance by having a structure in a high position. Therefore, there is a desire to reduce the height of the mechanism for releasing the leg brace in the walking training apparatus and to reduce the size.
The present invention provides a miniaturized walking training apparatus.

A walking training apparatus according to the present invention includes a leg brace that is attached to a leg of a trainee, a plurality of wires that are connected to the leg brace and suspend the leg brace from above, from the front, and from above and from the rear, and a trainer While converting the extension direction of the wire extending upward and forward, and the upward and backward direction from the leg of each of the legs, and winding the wire with the extension direction converted during the stance of the trainee, A wire winding means for pulling out the wire during the free leg period; and a tension control means for controlling a state in which a tensile force for releasing the weight of the leg orthosis is generated by the wire winding means. The means is disposed below the conversion means.
Thereby, in the state which has arrange | positioned the wire winding-up means in the low position, a tensile force can be generated with a wire upward and the weight of a leg brace can be relieved.

  Thereby, the walk training apparatus reduced in size can be provided.

It is a side view of a walking training apparatus. It is a top view of a walking training apparatus. It is a figure which shows the operation | movement flow at the time of utilizing a walking training apparatus. It is a figure which shows the walk training apparatus in which a front storage part and a back storage part can each operate | move in the left-right direction.

  Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG.1 and FIG.2, the walking training apparatus 1 is provided with the leg brace | wear 2 with which a trainee's leg part is mounted | worn, and the treadmill 3 on which a trainee gets on.

  The leg brace 2 is an assist device that is attached to a trainee's affected leg and assists walking exercise. FIG. 1 shows an example in which a leg brace 2 is attached to the right leg of the trainee. For example, the leg brace 2 includes a thigh link 11 mounted along the trainee's thigh, a crus link 12 swingably connected to the thigh link 11 and mounted along the crus, A foot link 13 to be attached to the foot, a connecting portion 14 in which the thigh link and the lower leg link are connected, and a motor 15 that is disposed in the connecting portion 14 and swings the lower leg link so as to match the walking motion.

  The treadmill 3 is provided on the upper surface of the main body portion 20 provided in contact with the ground, the belt portion 21 on which the trainee rides, and a tensile force upward on the front side with respect to the leg device 2. A first wire 22 to be generated; a second wire 23 for generating a pulling force upward to the rear side with respect to the leg orthosis 2; a front storage portion 24 provided in front of the belt portion 21; and a belt portion. And a rear storage unit 25 provided rearward of 21.

  For example, the front storage part 24 is a cover whose upper part is approximately the waist position of the wearer. In the front storage part 24, between the 1st wire winding motor (1st wire winding means) 26 which winds up the 1st wire 22, and the leg appliance 2 and the 1st wire winding motor 26 And a first conversion means 27 for converting the direction in which the first wire 22 extends.

  For example, the rear storage unit 25 is a cover whose upper part is approximately the waist position of the wearer. In the rear storage unit 25, a second wire take-up motor (second wire take-up means) 28 for taking up the second wire 23, and between the leg brace 2 and the second wire take-up motor 28 are used. And second conversion means 29 for converting the direction in which the second wire 23 extends.

  The main body 20 includes a belt unit operating motor (not shown) for operating the belt unit 21, a belt control unit (not shown) for controlling the operation of the belt unit operating motor, and a first wire winding. Tension control means 30 for controlling the operation of the take-up motor 26 and the second wire take-up motor 28.

  In the belt portion 21, the trainee gets on the upper surface. The belt portion 21 is driven like a conveyor from the front to the rear by the power given from the belt portion operation motor provided in the main body portion 20. For example, the operation speed of the belt unit 21 is controlled by a belt control unit provided in the main body unit 20 based on an input from a controller (not shown) that is operated by a trainee or the like.

  The first wire 22 has one end connected to the connecting portion 14 of the leg brace 2 and the other end connected to the first wire take-up motor 26. The first wire 22 is guided by the first conversion means 27 in the middle between both ends.

  The second wire 23 has one end connected to the connecting portion 14 of the leg brace 2 and the other end connected to the second wire take-up motor 28. The second wire 23 is guided by the second conversion means 29 in the middle between both ends. Thereby, the 1st wire 22 and the 2nd wire 23 are the states which suspended the leg appliance 2 in V shape, when it sees from the side.

  The first wire winding motor 26 is disposed in the front storage portion 24 at a position close to the floor surface. The first wire winding motor 26 changes the driving state based on the control signal output from the tension control means 30. During the trainee's stance period, the first wire winding motor 26 winds the first wire 22 by performing rotational driving with the left-right direction as the axial direction. In addition, the 1st wire winding motor 26 does not wind in the trainee's free leg period, but makes it the state which pulled out the 1st wire 22. FIG.

  The 1st conversion means 27 is a pulley centering on the left-right direction. The first conversion means 27 is provided above the first wire winding motor 26 in the front storage portion 24. More specifically, it is arranged such that the height of the upper part of the first conversion means 27 is about the height of the trainee's waist. The first conversion means 27 converts the direction of the first wire 22 extending from the connecting portion 14 of the leg brace 2 to the first conversion means 27 so as to go downward from the first conversion means 27. Thereby, between the 1st conversion means 27 and the 1st wire winding motor 26, it will be in the state extended to the 1st wire 22 to an up-down direction.

  The second wire winding motor 28 is disposed in the rear storage portion 25 at a position close to the floor surface. The second wire winding motor 28 changes the driving state based on the control signal output from the tension control means 30. During the trainee's stance period, the second wire winding motor 28 winds the second wire 23 by performing rotational driving with the left-right direction as an axis. Note that the second wire take-up motor 28 does not take up during the free leg period, and keeps the second wire 23 pulled out.

  The 2nd conversion means 29 is a pulley centering on the left-right direction. The second conversion means 29 is provided above the second wire winding motor 28 in the rear storage unit 25. More specifically, the second conversion means 29 is arranged so that the height of the upper part thereof is about the height of the trainee's waist. The second conversion means 29 converts the direction of the second wire 23 extending from the connecting portion 14 of the leg device 2 to the second conversion means 29 so as to be directed downward from the second conversion means 29. Thereby, it will be in the state extended to the 2nd wire 23 in the up-down direction between the 2nd conversion means 29 and the 2nd wire winding motor 28. FIG.

  The tension control means 30 outputs a control signal for controlling the operations of the first wire winding motor 26 and the second wire winding motor 28 in accordance with the walking state of the trainee and the state of the leg brace 2. That is, the tension control means 30 controls the state of winding of the first wire 22 by the first wire winding motor 26 and winding of the second wire 23 by the second wire winding motor 28, and pulls the tension. The degree of weight relief of the leg brace 2 by force and the tensile force applied in the front-rear direction are adjusted.

  Next, the operation of the walking training apparatus 1 will be described with reference to FIG.

  The leg brace 2 is mounted on the affected leg of the trainee (S11). For example, as shown in FIG. 1, a leg brace 2 is attached to the left foot of the trainee.

  The trainer starts rehearsal of walking (S12). The trainee gets on the belt portion 21 of the treadmill 3.

  The first wire winding motor 26 and the second wire winding motor 28 start driving (S13). Thereby, a tensile force is generated in each of the first wire 22 and the second wire 23.

  Here, the first wire 22 to which the tensile force is applied downward by the first wire winding motor 26 is converted in the pulling direction by the first conversion means 27, so that the leg brace 2 is moved forward and upward. pull. Similarly, the second wire 23 applied with a tensile force downward by the second wire take-up motor 28 is changed in the pulling direction by the second conversion means 29, so that the leg brace 2 is moved backward and upward. pull. Therefore, the leg brace 2 is unloaded by lifting the leg brace 2 upward by the upward component of these tensile forces.

  And the 1st wire winding motor 26 and the 2nd wire winding motor 28 maintain output torque. As a result, the state where the leg brace 2 is unloaded is maintained. In addition, the amount of unloading with respect to the leg brace 2 is changed by changing the drive amount of the 1st wire winding motor 26 and the 2nd wire winding motor 28 according to recovery of the trainee's affected leg. be able to. Thereafter, the trainer starts walking training.

  The first wire take-up motor 26 and the second wire take-up motor 28 generate a force in the front-rear direction by changing the output (S14). For example, by changing the pulling force of the first wire 22 to be stronger than the pulling force of the second wire 23, a force in the forward direction is generated in the leg brace 2, and the leg part forward by the trainee Assist in starting out.

  Thus, the tensile force of the downward wires 22 and 23 by the first wire winding motor 26 and the second wire winding motor 28 is caused by the first conversion means 27 and the second conversion means 29. By converting, the leg brace 2 can be pulled upward and the weight can be relieved. At the same time, the outputs of the first wire take-up motor 26 and the second wire take-up motor 28 can be adjusted to generate a force in the front-rear direction for assisting in swinging out the legs.

  Moreover, the 1st wire winding motor 26 and the 2nd wire winding motor 28 are arrange | positioned in the floor surface vicinity. Therefore, there is no fear of dropping, and maintenance becomes easy.

  Moreover, the 1st conversion means 27 and the 2nd conversion means 29 are arrange | positioned about the height of a trainee's waist, and are changing the extending direction of the 1st wire 22 and the 2nd wire 23. FIG. Therefore, there is nothing that blocks the trainee's field of view, and the walking training can be executed without causing discomfort due to the blockage of the field of view, and the walking training apparatus 1 can be downsized.

  Here, as shown in FIG. 4, guide rails 31 extending in the left-right direction are provided forward and rearward from the belt part 21, and the front storage part 24 and the rear storage part 25 are respectively provided along the guide rails 31. It can be moved in the left-right direction. That is, the first wire 22 and the second wire are adjusted by adjusting the positions of the front storage unit 24 and the rear storage unit 25 in the left-right direction according to whether the affected leg of the trainee is the left foot or the right foot. The leg brace 2 can be unloaded in a state in which almost no tensile force in the left-right direction by 23 is generated.

  Moreover, even if it is a case where the several training person from which a step differs uses the walking training apparatus 1 by operating the front storage part 24 and the back storage part 25 along the guide rail 31, it is a walk assistance. Can be executed.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Walking training apparatus 2 Leg orthosis 3 Treadmill 11 Thigh link 12 Lower leg link 13 Foot link 14 Connection part 15 Motor 20 Main part 21 Belt part 22 First wire 23 Second wire 24 Front storage part 25 Rear storage part 26 1 wire winding motor 27 first conversion means 28 second wire winding motor 29 second conversion means 30 tension control means 31 guide rail

Claims (1)

Leg braces attached to the legs of the trainee;
A plurality of wires coupled to the leg brace and suspending the leg brace from above and forward and from above and behind;
Conversion means for converting the extending direction of the wire extending upward and forward, and upward and backward from the legs of the trainee, respectively;
While winding the wire whose extension direction has been changed during the stance period of the trainee, the wire winding means for pulling out the wire during the free leg period;
A tension control means for controlling a state of generating a tensile force for releasing the weight of the leg brace by the wire winding means; and
The wire winding means is disposed below the conversion means,
Walking training device.

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