JP2018075302A - 歩行訓練システム - Google Patents
歩行訓練システム Download PDFInfo
- Publication number
- JP2018075302A JP2018075302A JP2016220691A JP2016220691A JP2018075302A JP 2018075302 A JP2018075302 A JP 2018075302A JP 2016220691 A JP2016220691 A JP 2016220691A JP 2016220691 A JP2016220691 A JP 2016220691A JP 2018075302 A JP2018075302 A JP 2018075302A
- Authority
- JP
- Japan
- Prior art keywords
- walking
- marker
- assist device
- leg
- tension
- 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
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- 210000002683 foot Anatomy 0.000 description 4
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Images
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
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Abstract
【解決手段】歩行訓練システム1は、歩行補助装置2、カメラ10、前側引張部35、後側引張部37及び制御装置100を有する。また、歩行訓練システム1は、歩行補助装置2の脚長方向に離間した位置に設けられた上部マーカ52及び下部マーカ54を有する。制御装置100は、カメラ10によって撮影された画像を用いて2つのマーカの加速度を算出し、この2つのマーカの加速度から、歩行補助装置2の重心位置の加速度を推定する。そして、制御装置100は、この重心位置の加速度と歩行補助装置2の重量との積から歩行補助装置2の慣性力を算出する。制御装置100は、歩行補助装置2の慣性力を低減するように、前側引張部35及び後側引張部37を制御する。
【選択図】図3
Description
歩行補助装置の長さが変化すると歩行補助装置の重心位置も変化するが、本発明においては、上記のように構成されていることによって、歩行補助装置の長さが変化しても、歩行補助装置に働く慣性力を算出することができる。したがって、本発明は、歩行補助装置の長さが変化する場合であっても、歩行補助装置の慣性力を低減させることが可能となる。よって、本発明は、歩行補助装置の長さが変化する場合であっても、より効果的に歩行訓練を行うことが可能となる。
本発明は、このように構成されていることによって、2つのマーカの間隔を操作者が入力しなくても、制御装置が自動的に2つのマーカの間隔を算出することができる。したがって、歩行訓練をより効率的に行うことが可能である。
本発明は、上記のように歩行補助装置の脚部に対する負荷を軽減するための制御を行うように構成されていることによって、歩行訓練時にユーザが歩行補助装置を装着したことによる負担を軽減することが可能となる。
本発明は、上記のように構成されていることによって、引張手段の引張力の合成ベクトルの向きの制限が抑制される。したがって、本発明は、歩行訓練の際にユーザが歩行補助装置を装着したことによる負担を軽減する方法の自由度を増加させることが可能となる。
本発明は、上記のように構成されていることによって、歩行補助装置に大きな慣性力が作用し得る脚部の振り出しの開始のタイミング及び終了のタイミング以外のときに、歩行補助装置の慣性力を低減するような制御を行わなくてもよい。したがって、本発明は、脚部の振り出しの開始のタイミング及び終了のタイミング以外のときに、歩行補助装置の負荷を軽減するための制御をより確実に行うことが可能となる。
以下、図面を参照して本発明の実施の形態について説明する。図1は、実施の形態1にかかる歩行訓練システム1の外観を示す斜視図である。また、図2は、実施の形態1にかかる歩行補助装置の外観を示す斜視図である。本実施の形態に係る歩行訓練システム1は、例えば、片麻痺患者などのユーザの歩行訓練を行うために用いられる。歩行訓練システム1は、ユーザの脚部に装着される歩行補助装置2と、ユーザの歩行訓練を行う訓練装置3と、撮像手段であるカメラ10と、制御装置100とを備えている。
なお、カメラ画像格納部110及びテーブル格納部112以外の各構成要素の機能については、以下に示すフローチャート(図7)を用いて説明する。
(式1)
d=|c1(t)−c2(t)|
(式2)
v1(t)=(c1(t)−c1(t−ft))/ft*(D/d)
v2(t)=(c2(t)−c2(t−ft))/ft*(D/d)
(式3)
a1=(v1(t)−v1(t−ft))/ft
a2=(v2(t)−v2(t−ft))/ft
(式4)
a=(D2*a1+D1*a2)/(D1+D2)
(式5)
Fx=−m*ax
Fy=−m*ay
(式6)
fx=−Fx+Fa
fy=−Fy+Fm
(式7)
fx=f1*sinθ1−f2*sinθ2
fy=f1*cosθ1+f2*cosθ2
(式8)
L1*cosθ1=L2*cosθ2
L1*sinθ1+L2*sinθ2=L0
したがって、ワイヤ張力算出部124は、式8を用いて前側ワイヤ角度θ1及び後側ワイヤ角度θ2を算出し、算出されたθ1及びθ2を式7に代入することで、f1及びf2を算出することができる。
次に、実施の形態2について説明する。なお、実施の形態2にかかる歩行訓練システム1のハードウェア構成については、実施の形態1と実質的に同一であるので、説明を省略する。
(式9)
D=D3*|c1(t0)−c2(t0)|/|c1(t0)−c3(t0)|
次に、実施の形態3について説明する。実施の形態3は、ワイヤの数が3本である点で、実施の形態1及び実施の形態2と異なる。なお、それ以外の実施の形態3にかかる歩行訓練システム1の構成は、実施の形態1(及び実施の形態2)にかかる歩行訓練システム1の構成と実質的に同様であるので、説明を省略する。
(式10)
fx=f1*sinθ1−f2*sinθ2+f3*cosθ3
fy=f1*cosθ1+f2*cosθ2−f3*sinθ3
(式11)
L1*cosθ1=L2*cosθ2
L1*sinθ1+L2*sinθ2=L0
L2*cosθ2+L3*sinθ3=L4
したがって、ワイヤ張力算出部124は、式11を用いて前側ワイヤ角度θ1、後側ワイヤ角度θ2及び下側ワイヤ角度θ3を算出し、算出されたθ1、θ2及びθ3を式10に代入することで、f1、f2及びf3を算出することができる。
なお、本発明は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。例えば、上述した実施の形態においては、ワイヤの数は2本又は3本としたが、このような構成に限られない。歩行補助装置2の慣性力を低減できれば、ワイヤは1本でもよいし、4本以上でもよい。
Claims (6)
- ユーザが歩行訓練を行うために用いられる歩行訓練システムであって、
前記ユーザの脚部に装着され、前記ユーザの歩行を補助する歩行補助装置と、
前記歩行補助装置の脚長方向に離間した位置に設けられた2つのマーカと、
少なくとも前記ユーザが歩行訓練を行っている際に前記ユーザに装着された前記歩行補助装置を撮影可能な撮像手段と、
前記歩行補助装置及び前記脚部の少なくとも一方を引っ張る少なくとも1つの引張手段と、
前記引張手段の引張力を制御する制御手段と
を有し、
前記制御手段は、前記撮像手段によって撮影された画像を用いて前記2つのマーカの加速度を算出し、前記歩行補助装置の重心に対応する所定位置と前記2つのマーカそれぞれの位置との間の距離と、前記2つのマーカの加速度とを用いて、前記所定位置における加速度を推定し、前記推定された加速度と前記歩行補助装置の重量との積から算出される前記歩行補助装置の慣性力を低減するように、前記引張力を制御する
歩行訓練システム。 - 前記歩行補助装置は、脚長方向の長さを可変とする脚長可変機構を有し、前記2つのマーカの間隔は、前記歩行補助装置の脚長方向の長さの変化に応じて変化し、
前記制御手段は、変化した前記2つのマーカの間隔に応じて変化した前記距離を取得し、前記取得された前記距離を用いて、前記引張力を制御する
請求項1に記載の歩行訓練システム。 - 前記歩行補助装置の、前記脚長可変機構に対して前記2つのマーカのうちの第1のマーカと同じ側の位置であって、前記脚長可変機構によって前記第1のマーカとの間隔が変更されない位置に設けられた固定マーカをさらに有し、
前記制御手段は、前記固定マーカが撮影された画像における前記固定マーカと前記第1のマーカとの距離から、前記2つのマーカの間隔を算出する
請求項2に記載の歩行訓練システム。 - 前記引張手段は、
前記歩行補助装置及び前記ユーザの脚部のうち少なくとも一方を上方かつ前方に引張する第1引張手段と、
前記歩行補助装置及び前記ユーザの脚部のうち少なくとも一方を上方かつ後方に引張する第2引張手段と
を有し、
前記制御手段は、前記歩行補助装置の前記脚部に対する負荷を軽減するように、前記第1引張手段及び前記第2引張手段の引張力をそれぞれ制御する
請求項1から3のいずれか1項に記載の歩行訓練システム。 - 前記引張手段は、前記歩行補助装置及び前記ユーザの脚部のうち少なくとも一方を下方に引張する第3引張手段をさらに有し、
前記制御手段は、前記第1引張手段、前記第2引張手段及び第3引張手段の引張力をそれぞれ制御する
請求項4に記載の歩行訓練システム。 - 前記制御手段は、前記歩行補助装置が装着された前記脚部の振り出しの開始及び終了を判断し、前記脚部の振り出しの開始のタイミングを含む一定期間、及び前記脚部の振り出しの終了のタイミングを含む一定期間において、前記歩行補助装置の慣性力を低減するように、前記引張力を制御する
請求項4又は5に記載の歩行訓練システム。
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