JP2019201852A - Walking support device - Google Patents

Abstract

To provide a walking support device for supporting walking while straightening the trunk and swinging the arms, which is capable of appropriately preventing a user from overturning backward without providing an extension part extending behind rear wheels.SOLUTION: A walking support device includes: a frame; a right and left pair of handles (20R) that move in a front-back direction with respect to the frame; a right and left pair of handle guiding means (30R) for guiding the respective handles in a movable range with respect to the swinging of the arms; a plurality of wheels including driving wheels; travelling driving means for driving the driving wheels; a battery; handle state detection means; and control means. At least one of the plurality of wheels is provided to the rear end of the frame, and includes overturning sign detection means for detecting a sign of a user's overturning backward, and an overturning prevention mechanism for preventing the user from overturning backward. The control means causes the overturning prevention mechanism to be operated upon determination that there is a sign of the user's overturning backward on the basis of a detection signal from the overturning sign detection means.SELECTED DRAWING: Figure 15

Description

  The present invention relates to a walking support device.

  In order for a user who can walk independently to train for higher quality natural walking, do not lean on the walker, walk in the correct posture with the trunk straight, swinging the arm correctly in sync with the leg It is very important to do. It should be noted that a user who can walk independently, but who needs walking training, easily loses the balance of the body during walking training and may fall, and a mechanism for preventing the fall is desired.

  For example, in Patent Document 1, as shown in FIG. 17, a base frame 102 having a pair of left and right side frames 121 and columns 107, a pair of left and right front wheels 106 provided in front of the side frame 121, and a side frame 121 A movement assisting tool 100 having a pair of left and right rear wheels 104 provided at the rear and a top plate 110 provided at the upper end of a support column 107 is disclosed. The movement assisting tool 100 has a pair of left and right falls with a side frame 121 extended rearward of the rear wheel 104 in order to prevent the user from losing balance of the body and falling backward with the movement assisting tool 100. The prevention extension part 121a is provided. When the user is about to fall backward and the movement assisting tool 100 is tilted backward together with the user, the fall-preventing extension part 121a may come into contact with the floor surface and the movement assisting tool 100 may fall backward. This prevents the user from falling backward together with the movement assisting tool 100.

  In Patent Document 2, as shown in FIG. 18, a frame 210, a handle 240, a brake 250, a brake shoe 255, a pair of left and right front wheels 220, a pair of left and right rear wheels 230, a battery 210B, an electric motor 220M, and a control unit 210C. , An electrically assisted walking vehicle 200 is disclosed. The electrically assisted walking vehicle 200 includes a pair of left and right frames with a frame 210 extended behind the rear wheels 230 in order to prevent a user from losing balance and falling backward with the electrically assisted walking vehicle 200. A fall prevention extension 260 is provided. When the user is about to fall backward and the electrically assisted walking vehicle 200 tilts backward together with the user, the toppling prevention extending portion 260 comes into contact with the road surface, and the electrically assisted walking vehicle 200 falls backward. Is prevented, and the user is prevented from falling backward together with the electrically assisted walking vehicle 200.

JP-A-2015-89471 International Publication No. 2014/188726

  The fall prevention extension part 121a (see FIG. 17) of the movement assist tool 100 described in Patent Document 1 and the fall prevention extension part 260 (see FIG. 18) of the electrically assisted walking vehicle 200 described in Patent Document 2 are provided. Both are provided to extend rearward from the rear wheel. For this reason, during a user's walking training, when the user approaches the device to start walking training, or when the user leaves the device after completing the walking training, the user falls and falls. There is a possibility that. In addition, by making the wheel base that is the distance between the front wheel and the rear wheel longer, it is possible to omit the above-described fall prevention extension, but if the wheel base is lengthened, it may hinder the user's walking, It is not preferable to lengthen the wheel base because the small turning of the device becomes inconvenient and inconvenient.

  The present invention was devised in view of such a point, and has an extension part that extends backward from the rear wheel while supporting the walking while swinging the arm with the trunk straight. It is an object of the present invention to provide a walking support device that can appropriately prevent a user from falling backwards.

  In order to solve the above-mentioned problems, a first invention of the present invention is a pair of left and right frames, which are gripped by a user and move in the front-rear direction with respect to the frame according to the swing of an arm accompanying a user's walk. A pair of left and right handle guiding means for guiding each of the handles to a movable range in accordance with the swing of the arm as the user walks. A plurality of wheels including at least one driving wheel, a driving means for driving the driving wheel, a battery for operating the driving means for driving, and a handle for detecting the state of each handle. Hand state detecting means; and a control means for determining a holding state based on a detection signal from the holding state detecting means and controlling the driving means for traveling according to the determined holding state. The A walking assistance device user gripping the respective said possession right and left hands to proceed with the user when the user walks while swinging in the front-rear direction arm. Then, at least one of the plurality of wheels is provided at the rear end of the frame, and a fall sign detection means for detecting a sign of a fall to the rear of the user, and that the user falls backward. And the control means activates the fall prevention mechanism when it is determined that there is a sign that the user falls backward based on a detection signal from the fall sign detection means. It is a walking support device.

  Next, a second invention of the present invention is the walking support device according to the first invention, wherein the fall prevention mechanism forces each of the handles and each of the handles in the front-rear direction. Drive means for each handle that can be moved to each other, and when the control means operates the fall prevention mechanism, each of the handles is moved forward. Furthermore, it is a walking support device that controls the respective drive means for the handle.

  Next, a third invention of the present invention is the walking support device according to the second invention, wherein each of the holding state detecting means can detect the position in the front-rear direction of each holding hand. Each holding position detecting means, and when the control means operates the fall prevention mechanism to move each holding hand forward, each holding position detecting means. On the basis of the detection signal from the front and rear positions of the respective handles, and the front side handle is moved forward with a greater force than the rear side handle, or It is a walking assistance apparatus which makes the moving distance to the front of the handle on the front side larger than the moving distance to the front of the handle on the rear side.

  Next, a fourth invention of the present invention is the walking support device according to the second invention, wherein each of the handle state detecting means can detect the position in the front-rear direction of each handle. Each holding position detecting means, and when the control means operates the fall prevention mechanism to move each holding hand forward, each holding position detecting means. On the basis of the detection signal from the front and rear positions of each of the handles, and move the handle on the rear side forward with a greater force than the handle on the front side, or It is a walking assistance apparatus which makes the moving distance to the front of the handle on the rear side larger than the moving distance to the front of the handle on the front side.

  Next, a fifth invention of the present invention is the walking support device according to any one of the first to fourth inventions, wherein the overturn prevention mechanism includes the drive wheel and the traveling wheel. Drive means, and when the fall prevention mechanism is operated, the control means controls the driving means for traveling so that the walking support device moves relatively backward with respect to a user. It is a walking support device.

  Next, a sixth invention of the present invention is the walking support device according to any one of the first to fifth inventions, wherein the pair of left and right handle guiding means are provided on the frame. The rails are arranged on the left and right sides of the user so as to extend in the front-rear direction, and the pair of left and right handles are provided on the rails and are slidable in the front-rear direction along the rails. The walking support device.

  Next, a seventh invention of the present invention is the walking support device according to any one of the first to sixth inventions, wherein the holding state detecting means includes left and right hands. Each of the pressure detection means capable of detecting the gripping force of each of the users holding the respective handles, and the fall sign detection means includes the pressure detection means, The control means detects each gripping force of the user based on the detection signal from each pressure detection means, and based on the detected gripping force, indicates whether or not there is a sign that the user falls backwards. It is a walking assistance device to determine.

  Next, an eighth invention of the present invention is the walking assist device according to the seventh invention, wherein the control means is configured such that the gripping force with respect to at least one of the handles is larger than a predetermined gripping force. The walking assist device determines that there is a sign that the user falls backward.

  Next, a ninth aspect of the present invention is the walking assist device according to the seventh aspect, wherein the control means is further configured so that the user can further determine whether the user has detected a signal from the pressure detection means. When it is possible to detect the force that pushes the handle forward and the force that the user pulls the handle backward, and detects that both the handles are pulled backward, the user It is a walking support device that determines that there is a sign of falling backward.

  According to the first invention, since at least one wheel is provided at the rear end of the frame, it does not have an extending portion that extends rearward from the rear wheel. Therefore, it is prevented that the user falls by falling on the extension part. In addition, since it has a fall sign detection means for detecting a sign that the user has fallen backward and a fall prevention mechanism that prevents the user from falling backward, the user falls backward. This can be prevented appropriately.

  In the second invention, when it is determined that there is a sign that the user falls backward, the user grips the user's weight by moving the handle held by the user forward. Move forward. Thereby, it can prevent appropriately that a user falls backward.

  In the third invention, when pulling the user forward by moving the handle held by the user forward, the handle on the “front side” of the left and right handles can be moved with greater force. Pull or pull a longer distance to move the user's weight more appropriately forward. Thereby, it can prevent more appropriately that a user falls backward.

  In the fourth invention, when pulling the user forward by moving the handle held by the user forward, the handle on the “rear side” among the left and right handles can be moved with a greater force. Pull or pull a longer distance to better support the weight of the user who has moved backwards. Thereby, it can prevent more appropriately that a user falls backward.

  In the fifth invention, when it is determined that there is a sign that the user falls backward, the relative position of the walking support device with respect to the user is moved backward to support the user with the walking support device (pseudo). The wheelbase is extended to the rear side) to support the weight of the user who moved backward. Thereby, it can prevent appropriately that a user falls backward.

  In the sixth invention, the handle guiding means can be realized with a simple structure, and the handle moving back and forth with respect to the frame can also be realized with a simple structure.

  In the seventh invention, the presence or absence of a sign that the user falls backward is determined based on the gripping force with which the user grips the handle. Therefore, it is possible to determine whether or not there is a sign that the user falls backward using simple detection means.

  In the eighth invention, when the gripping force of the user is larger than the predetermined gripping force, it is determined that there is a sign that the user falls backward. The user who is about to fall backwards should hurry and grasp the handle as much as possible, and this is detected. Therefore, the presence or absence of a sign that the user falls backward can be determined appropriately and easily.

  In the ninth invention, when both handles are pulled backward, it is determined that there is a sign that the user falls backward. A user who is about to fall backward should pull both handles backward to try to move the body forward and detects this. Therefore, the presence or absence of a sign that the user falls backward can be determined appropriately and easily.

It is a perspective view explaining the whole structure of a walk assistance device. It is a perspective view explaining the structure and function of a handle and a rail. It is the III-III sectional view in FIG. It is IV-IV sectional drawing in FIG. It is a block diagram explaining the input / output of the control means of a walk assistance device. It is a flowchart explaining the process sequence (whole process) of the control means of a walking assistance apparatus. It is a flowchart explaining the process sequence of the input process in the whole process shown in FIG. It is a flowchart explaining the process sequence of the right (left) moving speed, moving direction, and amplitude calculation process in the input process shown in FIG. It is a flowchart explaining the process sequence of the right (left) gripping force, pushing force, and tensile force calculation process in the input process shown in FIG. It is a flowchart explaining the process sequence of the fall prediction process in the whole process shown in FIG. It is a flowchart explaining the process sequence of the handle control process in the whole process shown in FIG. It is a flowchart explaining the process sequence of the traveling control process in the whole process shown in FIG. It is a figure explaining the turning mode which shows whether the user wants straight advance, right turn, or left turn. It is a figure explaining the movement (progress) to the front of the movement of the walking support apparatus according to the movement from the front to the back of the handle. Explains the state of “time t1” when the user has determined that there is a sign of falling backward, and the state in which the fall prevention mechanism is activated at the time of “time t1 + Δt” (the state in which the handle is moved forward). It is a figure to do. At the time “time t2” when it is determined that there is a sign that the user will fall backward, and at the time “time t2 + Δt”, the fall prevention mechanism is activated (the handle is moved forward and the walking support device is It is a figure explaining the state relatively moved to the user's back side. It is a perspective view explaining the whole structure of the conventional movement assistance tool (walking assistance apparatus). It is a side view explaining the whole structure of the conventional electrically assisted walking vehicle (walking assistance apparatus).

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing. In addition, when the X-axis, the Y-axis, and the Z-axis are described in the drawing, the axes are orthogonal to each other. In FIG. 1, the Z-axis direction indicates the direction from the front wheel 60FR to the rear wheel 60RR, and the X-axis direction indicates the direction from the left to the right in the frame 50. That is, for the walking support device 10, the X axis direction is “right”, the opposite direction to the X axis direction is “left”, the opposite direction of the Z axis direction is “front”, and the Z axis direction is “rear”. And The Y-axis direction is “up” and the opposite direction to the Y-axis direction is “down”.

● [General outline configuration of walking support device 10 (FIG. 1)]
A schematic overall configuration of the walking support device 10 of the present invention will be described with reference to FIG. The walking support device 10 includes handles 20R and 20L, rails 30R and 30L, control means 40, a frame 50, front wheels 60FR and 60FL, rear wheels 60RR and 60RL, and driving means for driving 64R and 64L (for example, An electric motor), a control panel 70, and a battery B.

  As shown in FIG. 1, the frame 50 has a symmetrical shape with respect to the left-right direction, and the user enters between the rail 30R and the rail 30L from the open side (rear side) of the frame 50, The walking support device 10 is operated.

  The front wheels 60FR and 60FL are driven wheels (turnable caster wheels) provided at the lower front end of the frame 50. The rear wheels 60RR and 60RL are driving wheels provided at the lower end and the rear end of the frame 50, and are driven by the driving means for driving 64R and 64L via the belt 62, respectively. In the example shown in FIG. 1, there are a pair of left and right rear wheels, which are drive wheels, and each is independently driven by a driving means for traveling. Since the rear wheels 60RR and 60RL are provided at the rear end of the frame 50, the frame does not protrude behind the rear wheels 60RR and 60RL (there is no extension portion behind the rear wheels).

  A rail 30R is provided on the right side of the frame 50, and a rail 30L is provided on the left side. The rails 30R and 30L are respectively provided with handles 20R and 20L protruding upward. The handles 20R and 20L move back and forth within the respective movable ranges of the rails 30R and 30L in accordance with the swing of the arm accompanying the user's walking. The rail and the handle are provided in a pair of left and right. The rails 30R and 30L are provided on the frame 50 and are arranged on the left and right of the user (the user who is using the walking support device 10) so as to extend in the front-rear direction. The pair of left and right handles 20R and 20L are gripped by the user and move in the front-rear direction with respect to the frame 50 in accordance with the swing of the arm accompanying the user's walking. Further, a pair of left and right rails 30R and 30L (corresponding to the handle guiding means) are provided with the respective handles and guide the respective handles to the movable range in accordance with the swing of the arm accompanying the user's walking.

  As shown in FIG. 1, the control panel 70 is provided at a position that is easy to operate by the user, for example, at the top of the frame 50. The control panel 70 includes a main switch 72, an assist amount adjustment volume 74a, a load amount adjustment volume 74b, a moving load control mode switch 76, and a monitor 78. The main switch 72 is a main switch of the walking support device 10, and when turned on, supplies power from the battery B to the control means 40 and the driving means for driving 64 </ b> R and 64 </ b> L, thereby enabling the operation of the walking support device 10.

  The moving load control mode switching 76 is an assist mode or movement for assisting movement of the handles 20R and 20L with respect to the rails 30R and 30L by handle driving means 32R and 32L (for example, electric motors, see FIG. 2) described later. Switch the load mode to apply the load. For example, the moving load control mode switching 76 includes an “assist mode” for assisting the movement of the hand, a “load mode” for applying a load to the movement of the hand, and assisting and giving a load to the movement of the hand. It is possible to switch between the three modes of “normal mode”. The assist amount adjusting volume 74a is a volume for adjusting the assist amount in the assist mode, and the load amount adjusting volume 74b is a volume for adjusting the load amount in the load mode. The monitor 78 is a monitor that displays various states, and displays, for example, the amount of charge of the battery B, various mode settings, operation states, and the like.

  The triaxial acceleration / angular velocity sensor 52 is provided on the frame 50 and measures acceleration with respect to each of the three axes of the X axis, the Y axis, and the Z axis, and is centered on each of the three axes. The angular velocity of the rotation is measured, and a detection signal based on the measurement result is output to the control means 40. For example, the triaxial acceleration / angular velocity sensor 52 controls a detection signal according to the inclination angle of the walking support device 10 with respect to each of the X axis, the Y axis, and the Z axis when the walking support device 10 travels on an inclined surface. Output to 40. Further, for example, the triaxial acceleration / angular velocity sensor 52 detects an acceleration (for example, an impact to the vehicle body) applied to the vehicle body of the walking support device 10 and outputs a detection signal corresponding to the detected acceleration to the control means 40. . Further, for example, the triaxial acceleration / angular velocity sensor 52 detects the pitch angular velocity (angular velocity around the X axis), yaw angular velocity (angular velocity around the Y axis), and roll angular velocity (angular velocity around the Z axis) of the walking assist device 10. Then, a detection signal corresponding to the detected angular velocity is output to the control means 40. Based on the detection signal from the triaxial acceleration / angular velocity sensor 52, the control means 40 has respective inclination angles, acceleration (impact) magnitudes, pitch angular velocities with respect to the X axis, Y axis, and Z axis of the walking support device 10. The yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of rail 30R and handle 20R (FIGS. 2 to 4)]
The structure of the rail 30R and the handle 20R in the walking support device 10 will be described in detail with reference to FIGS. The walking support device 10 has a symmetrical structure on the left and right sides of the frame 50 except for the control panel 70, the control means 40, and the battery B. Therefore, the description on the left side is omitted and the structure on the right side will be mainly described. FIG. 2 is a perspective view illustrating the configuration and functions of the handle 20R and the rail 30R. 3 is a sectional view taken along the line III-III in FIG. 2, and FIG. 4 is a sectional view taken along the line IV-IV in FIG.

  As illustrated in FIG. 2, the rail 30 </ b> R includes a handle 20 </ b> R, pulleys PB and PF, and a wire W. The rail 30R has a shape curved in a concave shape in the upward direction, and has a rail slit portion 38 that opens upward along the front-rear direction. Further, the rail 30R is provided with pulleys PB and PF at both ends in the front-rear direction. The wire W is hung on the pulley PF arranged at the front and the pulley PB arranged at the rear, and interlocks the respective rotations.

  The handle driving means 32R, the right handle position detecting means 34R (for example, an encoder), and the handle movement restricting means 35R are provided coaxially with the pulley PF. As shown in FIG. 4, a wire is fixed to the wire connecting portion WA of the anchor portion 22B, and the wire is inserted through the wire hole WH without being fixed. A handle 20R is connected to the anchor portion 22B. Thereby, the drive means 32R for the handle can assist the movement of the handle 20R or apply a load to the movement of the handle 20R by rotating the pulley PF and rotating the wire W between the pulleys.

  The right hand position detection unit 34R outputs a detection signal including the rotation amount and rotation direction of the pulley PF accompanying the movement of the handle 20R relative to the rail 30R, that is, the detection signal including the movement amount and movement direction of the handle 20R. The control means 40 can detect the position of the handle 20R (position in the front-rear direction) on the rail 30R based on the detection signal from the right hand position detection means 34R.

  As shown in FIG. 3, the handle 20R includes a handle shaft portion 21a, a shaft portion insertion hole 21b, a slider 22, a grip portion 26a, switch grip portions 26b and 26c, and a brake lever BKL. doing. The slider 22 has a handle holding portion 22A and an anchor portion 22B.

  As shown in FIG. 3, one end of the urging means 24 is connected to the handle shaft portion 21a, and the other end is connected to the bottom portion of the shaft portion insertion hole 21b. A collar portion 21c is provided in the circumferential direction at the end of the handle shaft portion 21a to which the biasing means 24 is connected. Moreover, the inner collar part 20c is provided in the inner wall surface of the opening in the shaft part insertion hole 21b. Thereby, the grip part 26a can be slid up and down along the longitudinal direction of the handle shaft part 21a without being separated from the handle shaft part 21a. That is, the handle 20R has an expansion / contraction mechanism that enables expansion and contraction in the protruding direction.

  A handle support shaft JK is provided on the side of the handle shaft portion 21a to which the urging means 24 is not connected. The handle support shaft JK has a substantially spherical tip at the shaft, and forms a ball joint with a recess provided in the handle holding portion 22A. Thereby, the handle 20R can be tilted back and forth and left and right within a range regulated by the opening with respect to the handle holding portion 22A (see FIGS. 3 and 4).

  The right handle inclination detecting means 33R is provided at the opening of the handle holding portion 22A, and is arranged corresponding to the handle support shaft JK from the front, rear, left and right. The right handle inclination detecting means 33R is provided with a spring between the side surface of the handle support shaft JK and the opening of the handle holding portion 22A, for example, and pressure detecting means (for example, a pressure sensor) for detecting the pressure due to the expansion and contraction of the spring It is. The right hand tilt detection means 33R outputs a detection signal corresponding to the pressure generated by the expansion and contraction of the spring to the control means 40. The control means 40 can detect the inclination direction and the inclination angle of the handle 20R with respect to the handle holding part 22A based on the detection signal from the right handle inclination detection means 33R.

  As shown in FIG. 3, the switch grip portion 26b is provided on the front side of the handle 20R so that a predetermined gap is generated between the grip portion 26a and the switch grip portion 26b by a grip biasing means 28 (for example, a spring). Is provided. The grip detection means 25RF is a pressure detection means (for example, a pressure sensor), and outputs a detection signal corresponding to the grip force on the front side of the handle 20R when the user grips the handle 20R. Further, when the user grips the handle 20R and moves the gripped handle 20R from the front to the rear, the grip detection unit 25RF detects the grip force on the front side of the handle 20R and the grip 20R. A detection signal corresponding to the pulling force that pushes the front side backward and pulls the handle 20R backward is output. The control means 40 can detect the user's gripping force and tensile force based on the detection signal from the grip detection means 25RF.

  As shown in FIG. 3, the switch grip portion 26c is provided on the rear side of the handle 20R so that a predetermined gap is generated between the grip portion 26a and the switch grip portion 26c by a grip biasing means 28 (for example, a spring). Is provided. The grip detection means 25RB is a pressure detection means (for example, a pressure sensor), and outputs a detection signal corresponding to the grip force on the rear side of the handle 20R when the user grips the handle 20R. In addition, when the user grips the handle 20R and moves the gripped handle 20R from the rear to the front, the grip detection unit 25RB determines the gripping force on the rear side of the handle 20R and the handle 20R. A detection signal corresponding to the pushing force for pushing the rear side to the previous term and pushing the handle 20R to the previous term is output. The control means 40 can detect the user's gripping force and pushing force based on the detection signal from the grip detection means 25RB.

  One end of the brake lever BKL is connected to the lower front side of the grip portion 26a. When the user holds the brake lever BKL and pulls it toward the grip portion 26a, the rotation of the front wheels 60FR and 60FL and the rear wheels 60RR and 60RL is locked, and the locked state is maintained. (Not shown).

  As shown in FIG. 2, the rail 30 </ b> R is provided with handle movement restriction means 35 </ b> R that permits and prohibits movement of the handle 20 </ b> R with respect to the frame 50. For example, the handle movement restriction unit 35R has a lock mechanism that locks the rotation of the handle drive unit 32R (for example, an electric motor), and prohibits movement of the handle by locking the rotation of the handle drive unit 32R. Then, by unlocking the rotation of the handle driving means 32R, the movement of the handle with respect to the rail (that is, with respect to the frame) is permitted. In addition, as the lock mechanism, for example, a powder brake may be used, or the handle drive means 32R may be locked by applying a direct current (in this case, the handle drive means is the handle movement restriction means). Becomes).

  As shown in FIGS. 2 and 4, one of the wires W is inserted into the wire hole WH provided in the anchor portion 22B, and the other end of the wire W is connected to the wire connection portion WA (fixed). ing). Further, the handle 20R can move on the rail 30R by sliding the constricted portion connecting the handle holding portion 22A and the anchor portion 22B on the rail slit portion 38.

  One of the signal cables 36 is connected to the anchor portion 22B and the other is connected to the control means 40. The grip detection means 25RF and 25RB, the right hand position detection means 34R, and the right hand tilt detection means 33R. Is transmitted to the control means 40. The signal cable 36 may be a flexible cable such as a flexible cable.

  The grip detection means 25RF and 25RB, the right hand position detection means 34R, and the right hand tilt detection means 33R correspond to the handle state detection means.

● [Input and output of control means 40 (FIG. 5)]
FIG. 5 is a block diagram for explaining input / output of the control means 40 (for example, a control device including a CPU) of the walking support device 10. As shown in FIG. 5, the control means 40 (for example, CPU) receives input information (detection signal) from the handle state detection means 42, input information from the control panel 70, and from the triaxial acceleration / angular velocity sensor 52. Based on the input information (detection signal), the handle drive means 32R, 32L, the handle movement restriction means 35R, 35L, and the travel drive means 64R, 64L are controlled. The holding state detection means 42 includes gripping detection means 25RF, 25LF, 25RB, 25LB, a right hand tilt detection means 33R, a left hand tilt detection means 33L, a right hand position detection means 34R, and a left handle. Position detecting means 34L. The storage means 44 is a means for storing information, and stores and reads information in response to a request from the control means 40. The control means 40 receives signals from the main switch 72 of the control panel 70, the assist amount adjustment volume 74a, the load amount adjustment volume 74b, and the moving load control mode switching 76, and the control means 40 sends an image signal and the like to the monitor 78. Output.

[Processing procedure of control means 40 (FIGS. 6 to 13)]
FIG. 6 shows the overall processing in the processing procedure of the control means 40. When the user turns on the main switch 72, the process shown in FIG. 6 is started at predetermined time intervals (for example, every several [ms] intervals). When the process shown in FIG. 6 is activated, the control means 40 advances the process to step S010.

  In step S010, the control means 40 executes SB100 (input processing) and proceeds to step S020. Details of SB100 (input processing) will be described later.

  In step S020, the control means 40 executes SB200 (falling prediction process) and advances the process to step S030. Details of SB200 (falling prediction process) will be described later.

  In step S030, the control means 40 executes SB300 (hand-holding control process) and advances the process to step S040. The details of SB300 (hand holding control process) will be described later.

  In step S040, the control means 40 executes SB400 (travel control process) and ends the process (returns). The details of SB400 (travel control process) will be described later.

[SB100: Details of input processing (FIG. 7)]
Next, details of the SB 100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 6, the control means 40 performs the process of SB100 shown in FIG. 7, and advances the process to step SB010.

  In step SB010, the control unit 40 switches the mode stored in the storage unit, assist amount, load amount, right front pressure, right rear pressure, right position, right tilt, left front pressure, left rear pressure, left position, left tilt. The vehicle body tilt, the pitch angular velocity, the yaw angular velocity, and the roll angular velocity are updated, and the process proceeds to step SB020.

  Specifically, the control means 40 selects any one of “assist mode”, “load mode”, and “normal mode” based on the input information from the moving load control mode switch 76 (see FIG. 1). Remember. Further, the control means 40 stores the assist adjustment amount obtained based on the input information from the assist amount adjustment volume 74a (see FIG. 1) in the assist amount, and the input information from the load amount adjustment volume 74b (see FIG. 1). The load adjustment amount obtained based on the load amount is stored in the load amount. Further, the control means 40 stores the pressure obtained based on the detection signal from the grip detection means 25RF (see FIG. 3) of the right handle 20R (see FIG. 1) in the right front pressure, and grips the right handle 20R. The pressure obtained based on the detection signal from the detection means 25RB (see FIG. 3) is stored in the right rear pressure. Further, the control means 40 stores the position of the handle 20R on the rail 30R obtained based on the detection signal from the right hand position detection means 34R (see FIG. 2) in the right position. Further, the control means 40 changes the inclination information such as the inclination angle and the inclination direction of the right handle 20R obtained based on the detection signal from the right hand inclination detection means 33R (see FIGS. 3 and 4) to the right inclination. Remember. Similarly, the control means 40 stores the left front pressure, the left rear pressure, the left position, and the left inclination. Further, the control means 40 stores the tilt information such as the tilt angle and tilt direction of the walking support apparatus 10 obtained based on the detection signal from the triaxial acceleration / angular velocity sensor 52 (see FIG. 1) in the tilt of the vehicle body. Further, the control means 40 stores the angular velocity around the X axis of the walking assistance device 10 obtained based on the detection signal from the triaxial acceleration / angular velocity sensor 52 (see FIG. 1) as the pitch angular velocity, and the angular velocity around the Y axis is stored. The yaw angular velocity is stored, and the angular velocity around the Z axis is stored in the roll angular velocity.

  In step SB020, the control means 40 executes SBA00 (right (left) moving speed, moving direction, amplitude calculation process), and proceeds to step SB030. Details of SBA00 (right (left) moving speed, moving direction, amplitude calculation process) will be described later.

  In step SB030, the control means 40 executes SBC00 (right (left) gripping force, pushing force, tensile force calculation processing), and proceeds to step SB040. Details of SBC00 (right (left) gripping force, pushing force, and tensile force calculation processing) will be described later.

  In step SB040, the control means 40 determines whether or not the handles 20R and 20L are both gripped (whether the right gripping force> the predetermined gripping force and the left gripping force> the predetermined gripping force), If both are held (Yes), the process proceeds to step SB050, and if not (No), the process proceeds to step SB070D.

  When the process proceeds to step SB050, the control unit 40 determines whether or not the mode switching is in the assist mode. When the mode switching is in the assist mode (Yes), the process proceeds to step SB070A, otherwise (No). Advances the process to step SB060.

  When the process proceeds to step SB060, the control unit 40 determines whether or not the mode switching is in the load mode. If the mode switching is in the load mode (Yes), the process proceeds to step SB070B, otherwise (No). Advances the process to step SB070C.

  When the process proceeds to step SB070A, the control unit 40 stores the assist mode in the operation mode and ends the process (returns).

  When the process proceeds to step SB070B, the control unit 40 stores the load mode in the operation mode and ends the process (returns).

  When the process proceeds to step SB070C, the control unit 40 stores the normal mode in the operation mode and ends the process (returns).

  When the process proceeds to step SB070D, the control means 40 stores the standby mode in the operation mode and ends the process (returns).

[SBA00: right (left) moving speed, moving direction, details of amplitude calculation processing (FIG. 8)]
Next, details of SBA00 (right (left) moving speed, moving direction, amplitude calculation processing) will be described with reference to FIG. When executing SBA00 in step SB020 shown in FIG. 7, the control means 40 executes the process of SBA00 shown in FIG. 8, and advances the process to step SBA10.

  In step SBA00, the control means 40 advances the process to step SBA15A when the right position at the time of the current process is ahead of (including the same position) the right position at the time of the previous process (Yes), and otherwise ( No) advances the process to step SBA15B. The “right movement direction” indicates the movement direction (front or rear) of the right handle 20R, and the “right movement speed” indicates the magnitude of the movement speed of the right handle 20R.

  When the process proceeds to step SBA15A, the control means 40 stores “front” in the right movement direction, and obtains the right movement speed by (right position at the time of current processing−right position at the time of previous processing) / time. The speed is stored, and the process proceeds to step SBA20. The “time” in this case is an interval time for starting the processing of FIG. 6 (for example, 10 [ms] when starting at an interval of 10 [ms]).

  When the process proceeds to step SBA15B, the control means 40 stores “rear” in the right movement direction, and obtains the right movement speed as (right position at the time of the previous process−right position at the time of the current process) / time. The speed is stored, and the process proceeds to step SBA20. The “time” in this case is an interval time for starting the processing of FIG. 6 (for example, 10 [ms] when starting at an interval of 10 [ms]).

  When the process proceeds to step SBA20, the control means 40 determines whether or not the right movement direction during the previous process is “front” and the right movement direction during the current process is “back”. If the previous right movement direction is “front” and the current right movement direction is “back” (Yes), the process proceeds to step SBA25, and if not (No), the process proceeds to step SBA30.

  When the process proceeds to step SBA25, the control means 40 stores the current right position in the right front end position, and proceeds to step SBA30.

  When the process proceeds to step SBA30, the control means 40 determines whether or not the right movement direction at the time of the previous process is “back” and the right movement direction at the time of the current process is “front”. If the previous right movement direction is “back” and the current right movement direction is “front” (Yes), the process proceeds to step SBA35, and if not (No), the process proceeds to step SBA40.

  When the process proceeds to step SBA35, the control means 40 stores the current right position in the right rear end position, and proceeds to step SBA40.

  When the process proceeds to step SBA40, the control unit 40 stores the length obtained from the right front end position−the right rear end position in the right amplitude, and proceeds to step SBB10.

  The processing in steps SBB10 to SBB40 is processing for obtaining the left moving direction, left moving speed, left front end position, left rear end position, and left amplitude of the left handle 20L. Since this is the same as steps SBA10 to SBA40 for obtaining the moving speed, the right front end position, the right rear end position, and the right amplitude, the description thereof is omitted. In addition, the control means 40 will complete | finish (return) the process of step SBA00, after finishing the process of step SBB40.

[SBC00: details of right (left) gripping force, pushing force, and tensile force calculation processing (FIG. 9)]
Next, details of SBC00 (right (left) gripping force, pushing force, and tensile force calculation processing) will be described with reference to FIG. When executing SBC00 in step SB030 shown in FIG. 7, the control means 40 executes the process of SBC00 shown in FIG. 9, and advances the process to step SBC10.

  In step SBC10, the control means 40 determines whether or not the deviation (absolute value) between the right front pressure and the right rear pressure is equal to or less than a predetermined pressure ΔP (Yes), the process proceeds to step SBC20. If not (No), the process proceeds to step SBC30C. When the user holding the right handle 20R is pulling the handle 20R rearward, the right front pressure includes a gripping force and a tensile force, and the right rear pressure includes a gripping force. Yes. Further, when the user holding the right handle 20R pushes the handle 20R forward, the right front pressure includes the gripping force, and the right rear pressure includes the gripping force and the pushing force. Yes. Further, when the user holding the right handle 20R does not move the handle 20R forward or backward, the right front pressure includes the gripping force, and the right rear pressure includes the gripping force. .

  When the process proceeds to step SBC20, the control means 40 determines whether or not the right front pressure is larger than the right rear pressure. If the right front pressure is larger (Yes), the process proceeds to step SBC30A, otherwise (No). Advances the process to step SBC30B.

  Step SBC30A is a process in which the user grips the right handle 20R and pulls backward. When the process proceeds to step SBC30A, the control means 40 pulls “right front pressure—right rear pressure” to the right. Is stored in the force, 0 (zero) is stored in the right push output, “(right front pressure−right tension force) + right rear pressure” is stored in the right gripping force, and the process proceeds to step SBD10.

  Step SBC30B is a process in which the user grasps the right handle 20R and is pushing forward. When the process proceeds to step SBC30B, the control means 40 right-clicks “right rear pressure—right front pressure”. The output is stored, the right tensile force is stored as 0 (zero), “(right rear pressure−right push output) + right front pressure” is stored as the right gripping force, and the process proceeds to step SBD10.

  Step SBC30C is a process when the user holds the right handle 20R and does not move it forward or backward. When the process proceeds to step SBC30B, the control means 40 performs the right push output. 0 (zero) is stored, 0 (zero) is stored in the right tensile force, “right rear pressure + right front pressure” is stored in the right gripping force, and the process proceeds to step SBD10.

  The processing of steps SBD10 to SBD30C is processing for obtaining the left pushing output, left tensile force, and left gripping force of the left handle 20L, and obtaining the right pushing output, right tensile force, and right gripping force of the right handle 20R. Since steps SBC10 to SBC30C are the same, description thereof is omitted. Note that when the process of step SBD30A, SBD30B, or SBD30C is completed, the control unit 40 ends the process of step SBC00 (returns).

[SB200: Details of the fall prediction process (FIG. 10)]
Next, the details of SB200 (falling prediction process) will be described with reference to FIG. When executing SB200 in step S020 shown in FIG. 6, the control means 40 performs the process of SB200 shown in FIG. 10, and advances the process to step SB210.

  In step SB210, the control means 40 determines whether or not the right gripping force is equal to or greater than the first predetermined gripping force. If the right gripping force is equal to or greater than the first predetermined gripping force (Yes), the process proceeds to step SB230A; If so (No), the process proceeds to step SB215.

  When the process proceeds to step SB215, the control means 40 determines whether or not the left gripping force is equal to or greater than the first predetermined gripping force, and if it is equal to or greater than the first predetermined gripping force (Yes), the process proceeds to step SB230A. If not (No), the process proceeds to step SB220.

  When the process proceeds to step SB220, the control means 40 determines whether or not the right tensile force is equal to or greater than the predetermined tensile force. If the right tensile force is equal to or greater than the predetermined tensile force (Yes), the process proceeds to step SB225. If not (No), the process proceeds to step SB230B.

  When the process proceeds to step SB225, the control unit 40 determines whether or not the left tensile force is equal to or greater than the predetermined tensile force. If the left tensile force is equal to or greater than the predetermined tensile force (Yes), the process proceeds to step SB230A. If not (No), the process proceeds to step SB230B.

  When the process proceeds to step SB230A, the control unit 40 turns on the fall sign flag and proceeds to step SB235.

  When the process proceeds to step SB230B, the control means 40 turns off the fall sign flag and proceeds to step SB235.

  In steps SB210 to SB230B described above, the control means 40 determines whether or not there is a sign that the user falls backward based on the gripping force (including the tensile force). More specifically, the control means 40 determines that the gripping force with respect to at least one handle is greater than the predetermined gripping force (greater than the first gripping force), If it is pulled backward (by force), it is determined that there is a sign that the user will fall backwards.

  When the process proceeds to step SB235, the control unit 40 determines whether or not the fall sign flag at the previous process is OFF and the fall sign flag at the current process is ON, and the fall sign is described above. If the flag is OFF and the current fall sign flag is ON (Yes), the process proceeds to step SB240. If not (No), the process ends (returns).

  When the process proceeds to step SB240, the control means 40 stores the current right position in the right fall prevention initial position, stores the current left position in the left fall prevention initial position, and ends the process (returns). . The right fall prevention initial position and the left fall prevention initial position are stored as initial positions when the left and right handles are moved forward as one of the fall prevention mechanisms.

[SB300: Details of handle control process (FIG. 11)]
Next, details of the SB 300 (right (left) handle control process will be described with reference to FIG. 11. When executing the SB 300 in step S030 shown in FIG. 6, the control means 40 performs the process of SB 300 shown in FIG. And proceeds to step SB310.

  In step SB310, the control means 40 determines whether or not the operation mode at the time of the previous processing is the standby mode and the operation mode at the time of the current processing is not the standby mode, and if satisfied (Yes), the control means 40 performs step SB315. If not (No), the process proceeds to step SB320.

  When the process proceeds to step SB315, the control unit 40 controls the handle movement restriction units 35R and 35L (see FIG. 2) to “permitted (unlock)” and proceeds to step SB320 (step SB345D). “Release (prohibited (locked))”. When the standby mode is canceled, the control means 40 allows the possession movement restriction means 35R, 35L (see FIG. 2) that was “prohibited (locked)” in step SB345D in the standby mode to be “permitted (unlocked)”. "

  When the process proceeds to step SB320, the control means 40 determines whether or not the fall sign flag is ON. If it is ON (Yes), the process proceeds to step SB325, and if it is not ON (No). The process proceeds to step SB320A.

  When the process proceeds to step SB325, the control unit 40 determines the right target position, which is the target position of the right handle 20R, and the left target position, which is the target position of the left handle 20L, and performs the process in step SB330. Proceed. For example, the control means 40 sets the position ahead of the right fall prevention initial position stored in step SB240 of FIG. 10 by a predetermined distance to the right target position, and sets the position ahead of the left fall prevention initial position by a predetermined distance to the left target position. And

  In step SB330, the control means 40 determines whether or not the right position is the right target position (whether or not the current position of the handle 20R is the right target position), and the right position is the right target position. If yes (Yes), the process proceeds to step SB340; otherwise (No), the process proceeds to step SB335.

  When the process proceeds to step SB335, the control means 40 controls the handle driving means 32R (see FIG. 2) so that the right position approaches the right target position (right), and proceeds to step SB340.

  When the process proceeds to step SB340, the control unit 40 determines whether or not the left position is the left target position (whether or not the current position of the handle 20L is the left target position). If it is the left target position (Yes), the process ends (returns), and if not (No), the process proceeds to step SB345.

  When the process proceeds to step SB345, the control means 40 controls the handle driving means 32L (see FIG. 2) so that the left position approaches the left target position (left) and ends the process (returns). .

  When the process proceeds to step SB320A, the control unit 40 determines whether or not the operation mode is the assist mode. If the operation mode is the assist mode (Yes), the process proceeds to step SB345A, and if not (No). Advances the process to step SB320B.

  When the process proceeds to step SB345A, the control unit 40 assists according to the assist amount in each movement direction (right movement direction, left movement direction) of the handles 20R and 20L (forward direction). Ii) control each of the holding means driving means ((right) holding means driving means 32R, (left) holding means driving means 32L (see FIG. 2)), and the process ends (returns).

  When the process proceeds to step SB320B, the control unit 40 determines whether or not the operation mode is the load mode. If the operation mode is the load mode (Yes), the process proceeds to step SB345B, and otherwise (No). Advances the process to step SB320C.

  When the process proceeds to step SB345B, the control unit 40 applies a load corresponding to the load amount to each of the movement directions (right movement direction and left movement direction) of the handles 20R and 20L (reverse). Direction), and controlling the respective handle driving means ((right) handle driving means 32R, (left) handle driving means 32L (see FIG. 2)), the process is terminated (returns). .

  When the process proceeds to step SB320C, the control unit 40 determines whether or not the operation mode is the normal mode. If the operation mode is the normal mode (Yes), the process proceeds to step SB345C, and otherwise (No). Advances the process to step SB345D.

  When the process proceeds to step SB345C, the control unit 40 idles the respective handle drive means ((right) handle drive means 32R, (left) handle drive means 32L (see FIG. 2)). (Neither assist nor load is applied), and the process ends (returns).

  When the process proceeds to step SB345D, the control unit 40 idles the respective handle driving means ((right) handle driving means 32R, (left) handle driving means 32L (see FIG. 2)). (Neither assist nor load is applied). Then, the control means 40 controls each hand movement restriction means ((right) hand movement restriction means 35R, (left) hand movement restriction means 35L (see FIG. 2)) to "prohibit (lock)". The process is terminated (returned).

  As described above, in the SB 300 (handle control process), the control means 40 moves the front of each handle along the rail when there is a sign that the user falls backward (when the fall sign flag is ON). The driving means for each handle is controlled so as to move to (step SB320, SB325, SB330, SB335, SB340, SB345).

[SB400: Details of travel control processing (FIGS. 12 and 13)]
Next, details of SB400 (travel control process) will be described with reference to FIG. When executing SB400 in step S040 shown in FIG. 6, the control means 40 executes the process of SB400 shown in FIG. 12, and advances the process to step SB410.

  In step SB410, the control means 40 determines whether or not the operation mode is the standby mode. If the operation mode is the standby mode (Yes), the process proceeds to step SB480B. If not (No), the process proceeds to step SB420. Proceed with the process.

  When the process proceeds to step SB480B, the control unit 40 locks (right) the driving unit for driving 64R and (left) the driving unit for driving 64L (see FIG. 1) and ends the process (returns).

When the process proceeds to step SB420, the control unit 40 calculates the traveling speed V _C of the walking support device 10 based on the moving speed of the handles 20R and 20L, and proceeds to step SB425. For example, the control means 40 calculates (right movement speed + left movement speed) / 2 as the traveling speed V _C using the right movement speed and the left movement speed obtained in SBA00.

In step SB425, the control means 40 calculates a speed deviation V _D that is the difference between the moving speeds of the handles 20R and 20L, and advances the process to step SB430. For example, the control means 40 calculates | right movement speed−left movement speed | as the speed deviation V _D using the right movement speed and the left movement speed obtained in SBA00.

  In the process of steps S430 to SB440C, it is estimated whether the user desires “straight ahead”, “right turn”, or “left turn”. This is the turning mode determination process stored in the “turning mode”. As shown in FIG. 13, the turning mode is determined based on each state of right inclination, left inclination, right movement direction, left movement direction, and left and right amplitude states. For example, when the control means 40 estimates that the turning mode = “straight forward”, the user desires “straight forward” when the user moves the handles 20R, 20L back and forth with substantially the same amplitude. presume. For example, when the control means 40 estimates that the turning mode = “right turn”, the user tilts the handle 20L inward and moves the handle 20L back and forth with a larger amplitude than the handle 20R. It is estimated that “right turn” is desired. For example, when the control means 40 estimates that the turning mode = “left turning”, the user tilts the handle 20R inward and moves the handle 20R back and forth with a larger amplitude than the handle 20L. If it is, it is estimated that “left turn” is desired. Note that the method of estimating each of the above-mentioned “straight forward”, “right turn”, and “left turn” is not limited to the above method.

  In step SB430, the control means 40 determines whether the right movement direction is “front”, the left movement direction is “rear”, and the deviation (absolute value) between the right amplitude and the left amplitude is equal to or less than the first predetermined amplitude. If not (Yes), the process proceeds to step SB440A. If not satisfied (No), the process proceeds to step SB435.

  When the process proceeds to step SB435, the control unit 40 determines that the right movement direction is “rear”, the left movement direction is “front”, and the deviation (absolute value) between the right amplitude and the left amplitude is the first predetermined value. It is determined whether or not the amplitude is equal to or less than the amplitude, and if satisfied (Yes), the process proceeds to step SB440A, and if not satisfied (No), the process proceeds to step SB435B.

  When the process proceeds to step SB440A, the control unit 40 stores “straight ahead” in the turning mode and proceeds to step SB445.

  When the process proceeds to step SB435B, the control means 40 determines whether or not the left inclination is “inward inclination” and the left amplitude is larger than the right amplitude. If satisfied (Yes), the process proceeds to step SB440B. If not satisfied (No), the process proceeds to step SB435C.

  When the process proceeds to step SB440B, the control unit 40 stores “turn right” in the turning mode and advances the process to step SB445.

  When the process proceeds to step SB435C, the control unit 40 determines whether or not the right inclination is “inward inclination” and the right amplitude is larger than the left amplitude. If satisfied (Yes), the process proceeds to step SB440C. If not satisfied (No), the process proceeds to step SB445.

  When the process proceeds to step SB440C, the control unit 40 stores “turn left” in the turning mode and advances the process to step SB445.

  When the process proceeds to step SB445, the control unit 40 determines whether or not the turning mode is “right turn”. When the turning mode is right turn (Yes), the process proceeds to step SB450A, otherwise. In the case (No), the process proceeds to step SB445B.

When the process proceeds to step SB450A, the control means 40 stores V _C −V _D / 2 in the right target speed V _R, and stores V _C + V _D / 2 in the left target speed V _L. The process proceeds to SB455.

  When the process proceeds to step SB445B, the control means 40 determines whether or not the turning mode is “left turn”. If the turn is left turn (Yes), the process proceeds to step SB450B; No) advances the process to step SB450C.

When the process proceeds to step SB450B, the control means 40 stores V _C + V _D / 2 in the right target speed V _R and stores V _C −V _D / 2 in the left target speed V _L. The process proceeds to SB455.

When the process proceeds to step SB450C, the control unit 40 stores V _C in the right target speed V _R , stores V _C in the left target speed V _L , and proceeds to step SB455.

  When the process proceeds to step SB455, the control means 40 determines whether or not the fall sign flag is ON. If it is ON (Yes), the process proceeds to step SB460, and if it is not ON (No). The process proceeds to step SB480A.

  When the process proceeds to step SB460, the control unit 40 determines whether or not the fall sign flag at the previous process is OFF and the fall sign flag at the current process is ON, and if satisfied (Yes). Advances the process to step SB480A, and if not satisfied (No), advances the process to step SB465. The control means 40 skips steps SB465 and SB470 because the moving speed of the handles 20R and 20L when the fall sign flag is ON cannot be measured when the fall sign flag is turned ON from OFF.

When the process proceeds to step SB465, the control unit 40 stores [right moving speed (moving speed of the handle 20R) + left moving speed (moving speed of the handle 20L)] / 2 in the correction speed V _T. Then, the process proceeds to step SB470.

When the process proceeds to step SB470, the control unit 40 stores V _R −V _T in the right target speed V _R and stores V _L −V _T in the left target speed V _L.

When the process proceeds to step S480A, the control means 40 controls the (right) driving means for driving 64R so as to approach the right target speed V _R , and (left) travel so as to approach the left target speed V _L. The driving means 64L is controlled, and the process ends (returns).

  As described above, in SB400 (running control process), when there is a sign that the user falls backward (when the fall sign flag is ON), the control means 40 reduces the speed of the walking support device to the user. The walking support device is moved so as to be relatively rearward (steps SB455 to SB470). In addition, when decelerating the walking support device, the walking assist device is decelerated by the moving speed forward of the handle. As a result, the walking support device moves backward by the moving speed of the holding hand, and the holding hand moves forward by the moving speed of the holding hand, so that the position of the holding hand is changed as viewed from the user. Absent. In addition, when decelerating the walking support device, the walking assist device may be decelerated at a speed smaller than the moving speed forward of the handle.

[Progressive operation of walking support device 10 when the handles 20R and 20L are moved (FIG. 14)]
By the control by the control means 40 described above, as shown in FIG. 14, the walking support device 10 proceeds at a traveling speed Va corresponding to the moving speeds V1 and V2 of the handle 20L. This makes it possible to perform higher-quality natural walking training by swinging the arm correctly in synchronization with the leg (walking while swinging the arm). Further, since the handle 20L (20R) expands and contracts vertically, it is possible to trace the route R1 and the route R2 shown in FIG. 14, and simulate the state of walking while striking a stock such as skis. It is possible, and even higher quality natural walking training can be performed.

● [Operating state of the fall prevention mechanism (Figs. 15 and 16)]
There are two types of fall prevention mechanisms that are executed when a sign of fall is detected: an action of moving the handle forward and an action of moving the walking support device relatively rearward of the user. FIG. 15 shows an example in which only the operation of moving the handle forward is performed, and FIG. 16 shows the operation of moving the handle forward and the operation of relatively moving the walking support device to the rear of the user. The example which performs is shown. 15 and 16, for the sake of explanation, the right handle 20R and the right rail 30R are shown, and the handle 20L and the rail 30L are not shown.

  First, the operating state of the fall prevention mechanism (part 1) will be described with reference to FIG. [Time t1] in FIG. 15 shows a state at the time of detecting a sign of the user falling backward, and [Time t1 + Δt] in FIG. 15 prevents the user from falling backward. The state which actuated is shown.

  The details of detecting the sign of the user's backward fall at [time t1] in FIG. 15 are as described in the above-described SB200 (fall prediction process) (see FIG. 10). Note that the pitch angular velocity (angular velocity around the X axis) detected by the triaxial acceleration / angular velocity sensor 52 exceeds a predetermined angular velocity from a substantially zero state (when the front wheel changes from a grounded state to a lifted state). In addition, the fall sign flag may be turned on. Although not shown, a toe pressure sensor for detecting the pressure on the toe side and a heel pressure sensor for detecting the pressure on the heel side are provided on the insole of the left and right shoes of the user, and a detection signal of each sensor is provided. It may be transmitted to the control means 40 wirelessly, and when the pressure of the heel pressure sensor of both feet becomes equal to or higher than a predetermined pressure, the fall prediction flag may be turned on.

  [Time t1 + Δt] in FIG. 15 shows a state in which steps SB320, SB325, SB335, SB340, and SB345 of the above-described SB300 (hand-holding control process) (see FIG. 11) are executed. A state in which the handle 20R at the position A1 is moved forward by ΔD1 is shown. As a result, the user holding the handle 20R is prevented from falling backward because the hand holding the handle 20R is pulled forward and the load moves forward.

  In addition, since the example of FIG. 15 is an example in which there is no operation for moving the walking support device to the rear of the user, steps SB455 to SB470 of the above-described SB400 (running control process) (see FIG. 12) are omitted. .

  In the right handle 20R and the left handle 20L, the handle on the front side is moved forward with a greater force (torque) than the handle on the rear side, or the handle on the front side is moved. By making the moving distance of the hand larger than the moving distance of the handle on the rear side, the user's load can be pulled further forward when the user is pulled further forward. That is, it is possible to more appropriately prevent the user from falling backward.

  Next, the operation state of the fall prevention mechanism (part 2) will be described with reference to FIG. [Time t2] in FIG. 16 shows a state at the time when a sign of the user's backward fall is detected, and [Time t2 + Δt] in FIG. 16 prevents the user from falling backward. The state which actuated is shown.

  The details of detecting the sign of the user falling backward at [time t2] in FIG. 16 are as described in the above-described SB200 (falling prediction process) (see FIG. 10). Note that the pitch angular velocity (angular velocity around the X axis) detected by the triaxial acceleration / angular velocity sensor 52 exceeds a predetermined angular velocity from a substantially zero state (when the front wheel changes from a grounded state to a lifted state). In addition, the fall sign flag may be turned on. Although not shown, a toe pressure sensor for detecting the pressure on the toe side and a heel pressure sensor for detecting the pressure on the heel side are provided on the insole of the left and right shoes of the user, and a detection signal of each sensor is provided. It may be transmitted to the control means 40 wirelessly, and when the pressure of the heel pressure sensor of both feet becomes equal to or higher than a predetermined pressure, the fall prediction flag may be turned on.

  [Time t2 + Δt] in FIG. 16 is a state in which steps SB320, SB325, SB335, SB340, and SB345 of SB300 (hand control process) (see FIG. 11) are executed and SB400 (travel control process) ( FIG. 12 shows a state in which steps SB455 to SB470 are executed. That is, the handle 20R at the position A2 at the time [time t2] is moved forward by ΔD2, and at the same time, the walking support device 10 is relatively moved backward by ΔD2. As a result, the user holding the handle 20R at [time t2] hardly changes the position of the handle 20R at [time t2 + Δt], but the position of the walking support device 10 is relatively behind. Since it moves and supports the user (pseudo-extending the wheelbase backward), the user can be prevented from falling backward.

  In the right handle 20R and the left handle 20L, the handle on the rear side is moved forward with a larger force (torque) than the handle on the front side, or the handle on the rear side is held. By making the movement distance of the hand larger than the movement distance of the handle on the front side, it is possible to pull the hand on the side where the load of the user supported by the walking support device is larger forward. Become. That is, it is possible to more appropriately prevent the user from falling backward.

  Although not shown in the drawings, as a fall prevention mechanism that is executed when a sign of a fall is detected, an operation of moving the handle forward and an operation of moving the walking support device relative to the rear of the user. You may make it perform only the operation | movement which moves a walk assistance apparatus relatively behind a user among two types.

● [Effect of this application]
As described above, the walking support device 10 described in the present embodiment supports walking while swinging arms with the trunk straight and extending rearward from the rear wheel. Without having a portion, it is possible to appropriately prevent the user from falling backward. Also, since there is no extension part behind the rear wheel, during walking training, when the user approaches the back of the walking support device in order to start walking training, the walking training ends and the user supports walking When leaving the rear of the device, the user does not get caught and is safer. In addition, since it is not necessary to lengthen the wheel base, it is possible to realize a walking support device that has a small turn and is easy to use.

  The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, and the like described in the present embodiment, and various changes, additions, and deletions are possible without changing the gist of the present invention. .

  In the present embodiment, an example has been described in which the walking support device is a four-wheeled vehicle and two drive wheels are provided. However, the walking support device is a three-wheeled vehicle with one front wheel and two rear wheels, the front wheels are the driving wheels, the rear wheels Two wheels may be caster wheels. That is, the walking support device only needs to have at least one drive wheel. For example, when the front wheel is a tricycle with driving wheels, the control means controls the steering angle of the front wheel in accordance with the “turning mode”.

  In the description of the present embodiment, an example has been described in which the rails 30R and 30L have a shape curved in a concave shape in the upward direction, but the rails 30R and 30L may have a linear shape. Moreover, the walking assistance apparatus demonstrated in this Embodiment demonstrated the example of a structure provided with a rail and a handle and moving a handle in the front-back direction along a rail. However, instead of the rail, a handle is provided at the tip of a stock-like member provided so as to swing on a rotation shaft provided on the frame, and the handle is swung back and forth with respect to the frame. It may be a thing to let you. In this case, the stock-like member corresponds to the handle guide means.

  Also, the handle drive means 32R, 32L for moving the handles 20R, 20L in the front-rear direction with respect to the frame 50 is not limited to the configuration of the electric motor, pulley, and wire described in the present embodiment. The handles 20R and 20L can be moved in the front-rear direction with respect to the frame 50 with various configurations. Further, the configuration and arrangement of the right hand position detecting means 34R and the left handle position detecting means 34L for detecting the positions of the respective handles 20R and 20L are limited to the configurations and arrangements shown in the present embodiment. However, various configurations and arrangements are possible. Further, the configuration and arrangement of the right handle inclination detection means 33R and the left handle inclination detection means 33L for detecting the inclination direction and the inclination angle of the respective handles 20R and 20L are the same as those shown in the present embodiment. It is not limited to arrangement | positioning etc., It can be set as various structures and arrangement | positioning. Further, the configuration and arrangement of the grip detection means 25RF, 25LF, 25RB, and 25LB for detecting the force applied to the respective handles 20R and 20L are not limited to the configurations and arrangements shown in the present embodiment. Various configurations and arrangements are possible. Moreover, although the example (refer FIG. 3, FIG. 4) by which each urging means (spring etc.) was provided in each handle 20R, 20L was demonstrated, it is not limited to a spring etc., various elasticity You may make it apply a member.

DESCRIPTION OF SYMBOLS 10 Walking assistance apparatus 20R, 20L Handle 21a Handle shaft part 21b Shaft part insertion hole 22 Slider 22A Handle holding part 22B Anchor part 24 Energizing means 25RF, 25LF, 25RB, 25LB Grasping detection means 26a Grip part 26b, 26c Switch Grip part 28 Grip urging means 30R, 30L Rail (Handling guide means)
32R, 32L Handle driving means (electric motor)
33R Right-hand tilt detection means 33L Left-hand tilt detection means 34R Right-hand position detection means 34L Left-hand position detection means 35R, 35L Hand movement restriction means 36 Signal cable 38 Rail slit portion 40 Control means 42 Holding state Detection means 44 Storage means 50 Frame 52 Triaxial acceleration / angular velocity sensor 60FR, 60FL Front wheel 60RR, 60RL Rear wheel (drive wheel)
62 Belt 64R, 64L Driving means for driving (electric motor)
70 Control Panel 72 Main Switch 74a Assist Amount Adjustment Volume 74b Load Amount Adjustment Volume 76 Moving Load Control Mode Switching 78 Monitor 100 Movement Aid 200 Electric Assist Pedestrian B Battery BKL Brake Lever JK Handle Support Shaft PB, PF Pulley R1 Path R2 Path W wire

Claims (9)

Frame,
A pair of left and right handles that are gripped by the user and move in the front-rear direction relative to the frame in accordance with the swing of the arm as the user walks;
A pair of left and right handle guiding means for guiding each of the handles to a movable range in accordance with a swing of an arm associated with a user's walking provided with each of the handles;
A plurality of wheels including at least one drive wheel provided in the frame;
Driving means for driving to drive the drive wheels;
A battery for operating the driving means for traveling;
Each holding state detecting means for detecting the state of each holding;
Control means for determining a holding state based on a detection signal from the holding state detection means, and for controlling the driving means for traveling according to the determined holding state;
A walking support device that advances with the user when the user holding the respective handles with the left and right hands walks while swinging the arm in the front-rear direction,
At least one of the plurality of wheels is provided at a rear end of the frame;
A fall sign detection means for detecting a sign of a user's backward fall, and a fall prevention mechanism for preventing the user from falling backward,
The control means includes
Based on the detection signal from the fall sign detection means, if it is determined that there is a sign that the user falls backward, the fall prevention mechanism is activated,
Walking support device. The walking support device according to claim 1,
The fall prevention mechanism is
Each said handle,
Drive means for each handle capable of forcibly moving each said handle in the front-rear direction;
Have
The control means includes
When operating the fall prevention mechanism, each of the handles is controlled so that each of the handles moves forward.
Walking support device. The walking support device according to claim 2,
Each of the holding state detection means includes a respective holding position detection means capable of detecting the position in the front-rear direction of each holding,
The control means includes
When the fall prevention mechanism is operated to move each handle forward, the position in the front-rear direction of each handle is determined based on a detection signal from each handle position detection means. Detect
Moving the handle on the front side forward with a greater force than the handle on the rear side;
Alternatively, the moving distance to the front of the handle on the front side is larger than the moving distance to the front of the handle on the rear side.
Walking support device. The walking support device according to claim 2,
Each of the holding state detection means includes a respective holding position detection means capable of detecting the position in the front-rear direction of each holding,
The control means includes
When the fall prevention mechanism is operated to move each handle forward, the position in the front-rear direction of each handle is determined based on a detection signal from each handle position detection means. Detect
Moving the handle on the rear side forward with a greater force than the handle on the front side,
Alternatively, the movement distance to the front of the handle on the rear side is larger than the movement distance to the front of the handle on the front side.
Walking support device. The walking support device according to any one of claims 1 to 4,
The fall prevention mechanism is
The drive wheel;
The driving means for traveling;
Have
The control means includes
When the fall prevention mechanism is operated, the driving means for driving is controlled so that the walking support device moves relatively backward with respect to the user.
Walking support device. The walking support device according to any one of claims 1 to 5,
The pair of left and right handle guiding means are:
Rails provided on the left and right of the user so as to extend in the front-rear direction provided on the frame,
The pair of left and right handles are
It is provided on each of the rails and is slidable in the front-rear direction along the rails.
Walking support device. The walking support device according to any one of claims 1 to 6,
Each of the holding state detecting means includes respective pressure detecting means capable of detecting each holding force of a user holding each holding hand with left and right hands,
The fall sign detection means includes each of the pressure detection means,
The control means includes
Based on detection signals from the respective pressure detection means, the respective gripping forces of the users are detected, and based on the detected gripping forces, it is determined whether or not there is a sign that the user falls backwards.
Walking support device. The walking support device according to claim 7,
The control means includes
When the gripping force with respect to at least one of the handles is larger than a predetermined gripping force, it is determined that there is a sign that the user falls backwards.
Walking support device. The walking support device according to claim 7,
The control means includes
Based on the detection signals from the respective pressure detection means, it is further possible to detect the force that the user pushes the handle forward and the force that the user pulls the handle backward,
When it is detected that both of the handles are pulled backward, it is determined that there is a sign that the user falls backwards.
Walking support device.

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