JP2020011033A - Walking support device - Google Patents

Abstract

To provide a walking support device capable of making a load on a user smaller, and supporting training of natural walking with a high quality of synchronizing with the legs in a correct posture of making the trunk straight, and correctly swinging the arms.SOLUTION: A walking support device 10 which advances together with a user includes: a frame; a pair of left and right arm parts (30R, 30L); a pair of left and right grip parts (20R, 20L); a wheel including a pair of left and right drive wheels (60RR, 60RL); driving means 64R, 64L; a battery B; drive control means 40; acting force measuring means of measuring an acting force on the grip parts; and holding means for holding the grip parts in previously set prescribed positions in the front and back direction of the arm parts. The holding means generates a restitutive force of returning the grip parts to the prescribed positions, and the drive control means controls the driving means on the basis of an acting force acquired on the basis of a detection signal from the acting force measuring means.SELECTED DRAWING: Figure 1

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, it is necessary not to lean on the walker, but to swing the arm in a correct posture with the trunk in a straight position and synchronized with the legs. Very important.

  For example, as shown in FIG. 32, a walking vehicle 110 (corresponding to a walking support device) described in Patent Document 1 has a front wheel 160F, a rear wheel 160B, a main frame 140, a side frame 130, a slider 122, a handle 120, and a connecting rod. 132 and a pair of left and right. The slider 122 has a handle 120 fixed thereto and is slidable back and forth along the side frame 130. The slider 122 is connected to a rear wheel 160B via a connecting rod 132. Accordingly, when the user holds the left and right handles 120 with the left and right hands, walks while swinging the left and right arms, and alternately slides the left and right sliders 122 back and forth, the left and right rear wheels 160B are rotationally driven. You. In other words, the walking vehicle moves together with the user who walks while shaking his arm, and the power source of the walking vehicle is the force by which the user swings his arm back and forth.

  Further, as shown in FIG. 33, a walking assistance device 210 (corresponding to a walking assistance device) described in Patent Literature 2 uses a moving body 250 (corresponding to a frame), wheels 260FR and 260FL, and a driven wheel 260R. It includes grips 220R and 220L (corresponding to a handle) gripped by a person, force detectors 234R and 234L for detecting a force in a walking direction, a power supply 200B, and control means 240. According to the walking assistance device 210, when the user grips the handles 220R and 220L and moves the handles 220R and 220L in a direction desired by the user, the force applied to the handles 220R and 220L is changed to the force detectors 234R and 234L. And transmitted to the control means 240. The control means 240 controls the speed of the walking assistance device 210 according to the applied force.

JP 2009-106446 A JP-A-5-329186

  As shown in FIG. 32, the walking vehicle 110 described in Patent Literature 1 uses a link mechanism including a handle 120, a slider 122, a connecting rod 132, and a rear wheel 160B to swing the arm back and forth regardless of the stride. Has a fixed swing width. Therefore, it is difficult for the user to make an adjustment in which the movement of the leg (step length) and the movement of the arm (arm width) are linked. In order to perform high-quality natural walking training, it is preferable that the timing of shaking the arm matches the walking pitch of the user. In addition, since the power of the user swinging the arm back and forth is the power source of the walking vehicle 110, the load on the user is relatively large, which is suitable for recovering the function of strongly swinging the arm. However, it is not suitable for high-quality natural walking training in which the correct posture with the trunk straight and the arms are shaken correctly in synchronization with the legs.

  Further, the walking assistance device 210 described in Patent Literature 2 has a power source, so that the load on the user is relatively small. It is not suitable for high-quality natural walking training in which the correct posture with the trunk straightened and the arms correctly shaken in synchronization with the legs.

  The present invention has been made in view of such a point, and it is possible to further reduce the burden on the user, and to synchronize the leg with the leg in a correct posture in which the trunk is straightened, and correct the posture. It is an object of the present invention to provide a walking support device capable of supporting a high-quality natural walking training of waving an arm.

  In order to solve the above problems, a first invention is a frame, a pair of left and right arms provided on the frame, and a pair of left and right arms provided on the pair of arms so that a user can grip the frame. A pair of left and right grips movable in the front-rear direction, a plurality of wheels including a pair of left and right drive wheels provided at the lower end of the frame, and a respective one for driving each of the drive wheels to advance the walking assist device. Driving means, a battery serving as a power source for each of the driving means, a driving control means for controlling each of the driving means, and an acting force measuring means for measuring an acting force on each of the gripping portions, respectively Holding means for holding the gripping portions at respective predetermined positions with respect to the frame, and gripping the gripping portions and swinging the arms. A walking support device that moves forward with a user who walks while the holding means generates a restoring force for returning the grip portion displaced from the predetermined position to the predetermined position by swinging the arm of the user; The drive control unit is a walking support device that controls each of the drive units based on each of the acting forces obtained based on a detection signal from each of the acting force measuring units.

  A second invention of the present invention is the walking assistance device according to the first invention, wherein each of the acting force measuring means is a forward acting force inputted to the corresponding grip portion. The drive unit includes: a forward acting force detecting unit that detects an acting force; and a backward acting force detecting unit that detects a backward acting force that is a backward acting force input to the corresponding grip unit. The control means is the acting force based on a difference between the forward acting force detected by using the forward acting force detecting means and the rearward acting force detected by using the backward acting force detecting means. It is a walking assistance device that controls each of the driving units based on a gripping portion acting force.

  A third aspect of the present invention is the walking assist device according to the second aspect, wherein the drive control means is a right grip part acting force which is the grip part acting force input to the right grip part. And whether the user is walking while swinging his arm based on the difference between the size of the left grip and the magnitude of the left grip acting force input to the left grip. And a walking support device that controls each of the driving units based on a determination result.

  A fourth invention of the present invention is the walking support device according to the third invention, wherein the drive control means is configured such that, when the determination result is that the user is walking while swinging his arm, It is a walking assistance device that controls each of the driving means so as to reduce meandering of the walking assistance device that occurs with a user's arm swing walking operation.

  According to a fifth aspect of the present invention, there is provided a frame, a pair of left and right arms provided on the frame, and a pair of left and right arms provided on the pair of arms so that a user can grip and move in the front-rear direction with respect to the frame. Possible pair of left and right grips, a plurality of wheels including a pair of left and right drive wheels provided at the lower end of the frame, and respective driving means for driving each of the drive wheels to advance the walking assist device, A battery serving as a power source for each of the driving units, a driving control unit for controlling each of the driving units, a gripping portion position detecting unit for detecting a position of each of the gripping portions with respect to the frame, Holding means for holding the gripping portions at respective predetermined positions with respect to the frame, and holding the gripping portions with the arms A walking support device that moves forward with a user who walks while shaking, wherein each of the holding means generates a restoring force for returning the grip portion shifted from the predetermined position to the predetermined position by swinging the arm of the user, The drive control unit is a walking support device that controls each of the drive units based on a position of each of the grip units obtained based on a detection signal from each of the grip unit position detection units.

  A sixth invention of the present invention is the walking support device according to the fifth invention, wherein the drive control means is configured to use the right and left directions in the front-rear direction with respect to the frame, obtained by using the respective grip part position detection means. Of the user in the front-rear direction with respect to the frame, based on the right grip part front-rear position that is the position of the grip part and the left grip part front-rear position that is the position of the left grip part in the front-rear direction with respect to the frame. A walking assistance device that determines a user front-rear position, which is a position, and controls each of the driving units so that the user front-rear position approaches a predetermined position in the front-rear direction with respect to the frame.

  A seventh invention of the present invention is the walking support device according to the sixth invention, wherein the drive control means allows a user to perform the operation based on the right and left grip front and rear positions and the left and right grip front and rear positions. It is determined whether or not the user is walking while swinging his arm, and if it is determined that the user is walking while swinging his arm, the meandering of the walking support device that occurs with the user's arm swing walking operation is reduced. A walking support device that corrects the control amount of each of the driving units.

  An eighth invention of the present invention is the walking support device according to any one of the first to fourth inventions, wherein each of the arm portions is provided with the restoring force of the holding means. It is a walking assistance device provided with respective gripping portion restraining means for enabling the gripping portion held at a predetermined position to be restrained at the predetermined position in the front-rear direction with respect to the frame.

  A ninth invention of the present invention is the walking assistance device according to the eighth invention, wherein each of the grip part restraining means includes a restraining state for restraining the grip part at the predetermined position, A release state in which the gripping portion is released without being restrained to the predetermined position. A walking support device that controls each of the driving units based on each of the acting forces obtained based on a detection signal from the acting force measuring unit.

  A tenth invention of the present invention is the walking assist device according to any one of the fifth to seventh inventions, wherein each of the arm portions is provided with the restoring force of the holding means. It is a walking assistance device provided with respective gripping portion restraining means for enabling the gripping portion held at a predetermined position to be restrained in the vicinity of the predetermined position in the front-back direction with respect to the frame.

  An eleventh invention of the present invention is the walking assist device according to the tenth invention, wherein each of the grip part restraining means includes a restraining state for restraining the grip part in the vicinity of the predetermined position; A release state in which the part is released without being constrained in the vicinity of the predetermined position, and the driving control means can be configured such that each of the gripping part constraining means is set in the constrained state. A walking support device that controls each of the driving units based on the position of each of the grippers in the front-rear direction with respect to the frame, obtained based on a detection signal from each of the gripper position detection units. It is.

  According to the first aspect, the walking support device is operated in accordance with the state of the swing of the arm of the user by controlling the driving unit in accordance with the acting force input to the gripping unit gripped by the user. Then, the walking support device can be moved forward as the user walks. Therefore, it is possible to further reduce the burden on the user. Also, the swing width of the arm is not fixed, and the user only has to swing the arm with a natural swing width according to his / her own stride. It is possible to appropriately support high-quality natural walking training.

  According to the second aspect, the user can eliminate the gripping force for gripping the gripping portion, and can acquire only the gripping portion acting force that is the acting force input to the gripping portion.

  According to the third invention, the drive control of the drive wheels in the walking support device can be changed depending on whether the user is walking while swinging his arm or not, and if the user is not walking while swinging his arm. it can.

  According to the fourth invention, meandering of the walking support device due to the swing of the arm of the user can be suppressed, and the walking support device can be moved forward with more straight-line stability.

  According to the fifth aspect, by controlling the driving means in accordance with the position of the gripping portion held by the user with respect to the frame, operating the walking support device in accordance with the state of the swing of the arm of the user; The walking support device can be moved forward as the user walks. Therefore, it is possible to further reduce the burden on the user. Also, the swing width of the arm is not fixed, and the user only has to swing the arm with a natural swing width according to his / her own stride. It is possible to appropriately support high-quality natural walking training.

  According to the sixth aspect, when the forward speed of the walking assist device is slower or faster than the walking speed of the user, the relative position of the walking assist device with respect to the user is shifted rearward or forward. Appropriately prevent them from going. Therefore, the position of the walking assist device in the front-back direction with respect to the user can be maintained at an appropriate position.

  According to the seventh aspect, meandering of the walking assist device due to the swing of the arm of the user can be suppressed, and the walking assist device can be moved forward with more straight ahead stability.

  According to the eighth aspect, the holding portion can be restrained with respect to the frame, and the walking support device can be used like a walker of a type in which both hands push the walking support device without swinging both arms.

  According to the ninth aspect, in the restrained state, the walking support device can be easily driven only by pushing the grip portion forward without the user swinging the arm.

  According to the tenth aspect, the gripping portion can be restrained within a predetermined range in the front-rear direction of the frame, and can be conveniently used as a walker of a type in which both hands are pushed without swinging both arms.

  According to the eleventh aspect, in the restrained state, the walking support device can be easily driven simply by pushing the grip portion forward without the user swinging the arm.

It is a perspective view explaining the whole composition of a walking support device. It is a perspective view explaining composition and function of a handle and a rail in a 1st embodiment. FIG. 3 is a cross-sectional view of the handle seen from the direction of line III-III in FIG. 2. FIG. 4 is a cross-sectional view of a handle seen from a direction IV-IV in FIG. 2. It is a block diagram explaining input and output of the drive control means of a walking assistance device. It is a flowchart explaining the processing procedure of the progress control of the drive control means of the walking assistance device. It is a figure explaining operation of a walking assistance device when a user is not walking. It is a figure explaining operation of a walking assistance device when a user is walking. It is a perspective view explaining composition and function of a handle and a rail in a 2nd embodiment. It is a flowchart explaining the procedure of the whole process of the progress control of the drive control means of the walking assistance device in the second embodiment. It is a flowchart explaining the processing procedure which determines the target progress speed of a walking assistance apparatus. It is a flowchart explaining the processing procedure which adjusts a target progress speed. It is a figure explaining operation of a walking assistance device in a 2nd embodiment. It is a figure explaining operation | movement of the walking assistance apparatus when a user front-back position is ahead of a reference position (predetermined position). It is a perspective view explaining the whole walk support device composition in a 3rd and 4th embodiment. Input and output of the drive control means of the walking assistance device according to the third and fourth embodiments will be described. It is a perspective view explaining composition and function of a handle and a rail in a 3rd embodiment. FIG. 18 is a cross-sectional view of the handle seen from the XVIII-XVIII direction in FIG. 17. It is a flowchart explaining the procedure of the whole process of the progress control of the drive control means of the walking assistance device in the third embodiment. It is a perspective view explaining composition and function of a handle and a rail in a 4th embodiment. FIG. 21 is a cross-sectional view of the handle seen from the XXI-XXI direction in FIG. 20. It is a flowchart explaining the processing procedure (whole processing) of the drive control means of a walking assistance device. 23 is a flowchart illustrating a processing procedure of an input process during the entire process illustrated in FIG. 22. 24 is a flowchart illustrating a processing procedure of right (left) moving speed, moving direction, and amplitude calculation processing during the input processing illustrated in FIG. 23. 23 is a flowchart illustrating a processing procedure of a ground speed correction amount calculation process during the entire process illustrated in FIG. 22. 23 is a flowchart illustrating a processing procedure of a central position / velocity correction amount calculation processing in the overall processing illustrated in FIG. 23 is a flowchart illustrating a processing procedure of a left-right turning correction process in the overall process illustrated in FIG. 22. 23 is a flowchart illustrating a processing procedure of meandering correction processing during the entire processing illustrated in FIG. 22. 23 is a flowchart illustrating a processing procedure of a traveling speed adjustment process during the entire process illustrated in FIG. 22. It is a top view of a walking assistance apparatus, and is a figure explaining a handle front-back position, a handle front-back center position, a virtual front-back reference position, etc. FIG. 9 is a diagram illustrating an example of a longitudinal deviation / center position / velocity correction amount characteristic. It is a left view explaining the whole structure of the conventional walking support device (walking car). It is a perspective view explaining the whole walking support device (walking assistance device) composition.

  An embodiment for carrying out the present invention will be described below with reference to the drawings. 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 a direction from the front wheel 60FR to the rear wheel 60RR, and the X-axis direction indicates a direction from left to right in the frame 50. In the frame 50, the X-axis direction is “right”, the opposite direction to the X-axis direction is “left”, the opposite direction to the Z-axis direction is “front”, and the Z-axis direction is “rear”. Also, the Y-axis direction is “up” and the opposite direction to the Y-axis direction is “down”.

● [Schematic Overall Configuration of First Embodiment (FIG. 1)]
A schematic configuration of an embodiment for carrying out the present invention will be described with reference to FIG. FIG. 1 is a diagram illustrating a walking support device 10 according to the present embodiment. The walking support device 10 includes handles 20R and 20L (corresponding to grips), rails 30R and 30L (corresponding to arms), drive control means 40, a frame 50, and front wheels 60FR and 60FL (corresponding to wheels). , Rear wheels 60RR, 60RL (corresponding to driving wheels), driving means 64R, 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 of the frame 50, and the walking assist device Operate 10 The front wheels 60FR, 60FL are driven wheels (turnable caster wheels) provided at a lower front end of the frame 50. The rear wheels 60RR and 60RL are driving wheels for moving the walking assist device 10 provided at the lower rear end of the frame 50 forward, and are driven by driving means 64R and 64L via a belt 62, respectively. The example shown in FIG. 1 shows an example in which the rear wheels, which are drive wheels, are a pair of left and right wheels, and are driven independently by drive means (64R, 64L).

  A rail 30R is provided on the right side of the frame 50, and a rail 30L is provided on the left side. Each of the rails 30R, 30L is provided with a handle 20R, 20L that can be gripped by a user. The handles 20R, 20L move back and forth within the respective movable ranges of the rails 30R, 30L in accordance with the swing of the arm accompanying the walking of the user. The rail and the handle are provided as a left and right pair.

  Further, the frame 50 is provided with an angular velocity sensor 52. The angular velocity sensor 52 measures an angular velocity (yaw angular velocity) in rotation about the Y axis, and outputs a signal corresponding to the measured angular velocity to the drive control means 40.

  As shown in FIG. 1, the control panel 70 is provided at, for example, an upper portion of the frame 50 and at a position where the operation by the user is easy. The control panel 70 has a main switch 72, an assist amount adjustment volume 74a, and a monitor 78.

  The main switch 72 is a main switch of the walking assist device 10, and when turned on, supplies power from the battery B to the drive control means 40 and the drive means 64 R, 64 L to enable the operation of the walking assist device 10.

  The assist amount adjustment volume 74a is a volume for adjusting the amplification coefficient k. The monitor 78 is a monitor that displays various states, and displays, for example, the amount of charge of the battery B, setting of various modes, operation states, and the like.

  Each of the driving means 64R and 64L transmits the driving torque TrqR and TrqL (see FIG. 6) based on the amplification coefficient k and the force by which the user tries to advance the walking assist device 10 to the rear wheels 60RR and 60RL (driving wheels). Generate each.

● [Detailed structure of the walking support device 10 (FIGS. 2 to 4)]
The structure of the walking support device 10 will be described in detail with reference to FIGS. Except for the control panel 70, the drive control means 40, the angular velocity sensor 52, and the battery B, the walking support device 10 has a symmetrical structure on the left and right sides of the frame 50. Will be described. FIG. 2 is a perspective view illustrating the configuration and functions of the handle 20R and the rail 30R. FIG. 3 is a cross-sectional view of the handle 20 </ b> R viewed from the direction of line III-III in FIG. 2. FIG. 4 is a cross-sectional view of the handle 20R as viewed from the IV-IV direction in FIG.

  As shown in FIG. 2, a handle 20R (20L) is provided on the rail 30R (30L). As shown in FIG. 3, the handle 20R has a handle shaft 21a, a shaft fitting hole 21b, a slider 22, a grip 26a, switch grips 26b and 26ba, and a brake lever BKL. are doing. The slider 22 includes 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 21a, and the other end is connected to the bottom of the shaft fitting hole 21b. A flange 21c is provided in a circumferential direction at an end of the handle shaft 21a to which the urging means 24 is connected. Further, an inner flange portion 20c is provided on the inner wall surface of the opening of the shaft portion insertion hole 21b. Thus, the grip portion 26a can slide up and down along the longitudinal direction of the handle shaft 21a without being separated from the handle shaft 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 top end, 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 right and left within a range regulated by the opening with respect to the handle holding portion 22A (see FIGS. 3 and 4).

  As shown in FIG. 3, the switch grip portions 26b and 26ba are provided by a grip urging means 28 (for example, a spring) so as to generate a predetermined gap between the grip portion 26a and the switch grip portions 26b and 26ba. I have.

  The acting force measuring means 25R has a forward acting force detecting means 25fR and a backward acting force detecting means 25bR. The acting force measuring means 25R measures the acting force input to the right handle 20R. The acting force measuring means 25L has a forward acting force detecting means 25fL and a backward acting force detecting means 25bL. The acting force measuring unit 25L measures the acting force input to the left handle 20L.

  The forward acting force detecting means 25fR, 25fL and the backward acting force detecting means 25bR, 25bL are pressure sensors, and detect the acting force (pressure) input to the respective handles 20R, 20L. The forward acting force detecting means 25fR, 25fL and the backward acting force detecting means 25bR, 25bL may be load sensors for detecting a load.

  The forward acting force detecting means 25fR detects a forward acting force which is a forward acting force (pressure) input to the corresponding right handle 20R. The rearward acting force detector 25bR detects a rearward acting force that is a rearward acting force (pressure) input to the corresponding right handle 20R. The forward acting force detecting means 25fL detects a forward acting force which is a forward acting force (pressure) input to the corresponding left handle 20L. The rearward acting force detecting means 25bL detects a rearward acting force which is a rearward acting force (pressure) input to the corresponding left handle 20L.

  When the user grips the right handle 20R, the switch grip portion 26ba moves to the grip portion 26a side and is turned on by applying pressure, and the forward applied force (25fR) A signal corresponding to the post-pressure FRb) is output (see FIG. 6), and is turned off when the pressure is no longer applied. When the user grips the left handle 20L, the switch grip portion 26ba moves to the grip portion 26a side and the pressure is applied to turn on the forward acting force detection means 25fL, and the applied pressure (the left handle A signal corresponding to the post-pressure FLb) is output (see FIG. 6), and is turned off when the pressure is no longer applied.

  When the user grips the right handle 20R, the switch grip portion 26b moves to the grip portion 26a side and is turned on when the user grips the right handle 20R, and the rearward acting force detection means 25bR is turned on by the pressure, and the applied pressure (the right handle A signal corresponding to the pre-pressure FRf) is output (see FIG. 6), and when the pressure is no longer applied, the signal is turned off. When the user grips the left handle 20L, the switch grip portion 26b moves to the grip portion 26a side and the pressure is applied to turn on the rearward acting force detection means 25bL, and the applied pressure (the left handle A signal corresponding to the pre-pressure FLf) is output (see FIG. 6), and when no pressure is applied, the signal is turned off.

  One end of the brake lever BKL is connected to the lower front side of the grip portion 26a. When the user grips 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, the locked state is maintained, and the lock is released by further pulling. (Not shown).

  As shown in FIG. 2, the rail 30R has an upwardly concave curved shape, and has an upwardly opening rail slit portion 38 extending along the front-rear direction. As shown in FIGS. 2 and 3, one end of the holding means Spg1R (Spg1L) is connected to the front end of the rail 30R (30L), and the other end is connected to the front end face of the anchor portion 22B. Further, one end of the holding means Spg2R (Spg2L) is connected to the rear end of the rail 30R (30L), and the other end is connected to the rear end face of the anchor portion 22B. The holding units Spg1R and Spg2R are, for example, elastic members such as springs.

  The holding means Spg1R, Spg2R (Spg1L, Spg2L) hold the handle 20R (20L) at a predetermined position in the front-rear direction of the rail 30R (30L) by elastic force. The holding units Spg1R and Spg2R (Spg1L and Spg2L) generate a restoring force for returning the handle 20R (20L) displaced from the predetermined position due to the swing of the user's arm. The handle 20R (20L) is moved on the rail 30R (30L) by the constricted portion connecting the handle holding portion 22A and the anchor portion 22B sliding on the rail slit portion 38. This allows the user to move the handle 20R (20L) provided on the rail 30R (30L) in the front-rear direction along the rail 30R (30L) (see FIGS. 1 and 2). When the user stops gripping the handle 20R (20L), the handle 20R (20L) is returned to a predetermined position on the rail 30R (30L).

  One of the signal cables 36 is connected to the anchor portion 22B and the other is connected to the drive control means 40, and detection signals from the forward acting force detecting means 25fR, 25fL and the backward acting force detecting means 25bR, 25bR. Is transmitted to the drive control means 40. The signal cable 36 may be a flexible cable such as a flexible cable.

● [Description of functions and operations of walking support device 10 (FIGS. 5 to 8)]
The functions and operations of the walking support device 10 (see FIG. 1) will be described in detail with reference to FIGS. FIG. 5 is a block diagram illustrating input and output of the drive control unit 40 (for example, a control device including a CPU) of the walking support device 10. As shown in FIG. 5, the drive control means 40 is based on the input information from the acting force measuring means 25R (25fR, 25bR), 25L (25fL, 25bL), the angular velocity sensor 52, and the input information from the control panel 70. Thus, the driving means 64R and 64L are controlled. The storage unit 44 is a unit for storing information, and stores and reads out information in response to a request from the drive control unit 40. Further, a signal is input to the drive control means 40 from the main switch 72 of the control panel 70 and the assist amount adjustment volume 74a, and an image signal or the like is output to the monitor 78. Since the gripper position detecting means 27R and 27L and the gripper inclination detecting means 33R and 33L are used in a second embodiment described later, a description thereof will be omitted and the second embodiment will be described. This will be described in the form of

● [Description of processing and operation in drive control means 40 of walking support device 10 (FIGS. 6 to 8)]
FIG. 6 is a flowchart illustrating a processing procedure of the drive control unit 40 (see FIG. 5) of the walking support device 10 (see FIG. 1). FIG. 7 is a diagram illustrating the operation of the walking support device 10 when the user is not walking just by waving his arm. FIG. 8 is a diagram illustrating the operation of the walking support device 10 when the user is walking while swinging his arm.

  When the user turns on the main switch 72 (see FIG. 5), the drive control means 40 starts operating. The drive control means 40 allows the user to grip the handles 20R, 20L (see FIG. 1) based on information (see FIG. 5) from the acting force measuring means 25R (25fR, 25bR), 25L (25fL, 25bL). Then, it is determined whether the user is walking while swinging his arm.

  The drive means 64R, 64L (see FIG. 5) is provided with a lock mechanism, and when it is determined that the handles 20R, 20L are not gripped, the drive means 64R, 64L are locked, and the handles 20R, 20L are gripped. If it is determined that the lock is established, the locks of the driving units 64R and 64L may be released.

● [Processing of progress control by drive control means 40 (FIG. 6)]
The processing procedure of the progress control in the drive control means 40 (see FIG. 5) of the walking assistance device 10 (see FIG. 1) will be described with reference to the flowchart in FIG. When activated, the drive control means 40 executes the progress control at predetermined time intervals (for example, at intervals of several [ms]). Hereinafter, each step of the progress control process will be described in detail.

  In step S005, the drive control unit 40 acquires information from the acting force measurement units 25L and 25R and the assist amount adjustment volume 74a (see FIG. 5), and proceeds to step S010. The acting force measuring means 25R calculates the rear pressure FRb (forward acting force) of the right hand based on the forward acting force detecting means 25fR and the right hand based on the rear acting force detecting means 25bR. The front pressure FRf (rearward acting force) is output to the drive control means 40 (see FIG. 5). The acting force measuring means 25L calculates the rear pressure FLb (forward acting force) of the left handle based on the forward acting force detecting means 25fL and the front pressure FL of the left handle based on the rear acting force detecting means 25bL. FLf (rearward acting force) is output to the drive control means 40 (see FIG. 5). The assist amount adjustment volume 74a outputs the adjusted value of the amplification coefficient k to the drive control means 40 (see FIG. 5).

  In step S010, when the drive control unit 40 determines that the difference between | FRb-FRf | and | FLb-FLf | is smaller than the predetermined value Ferr (Yes), the drive control unit 40 proceeds to step S015 and proceeds to | FRb- If it is not determined that the difference between FRf | and | FLb-FLf | (| FRb-FRf |-| FLb-FLf |) is smaller than the predetermined value Ferr (No), the process proceeds to step S055. Note that the right gripping portion action (FRb-FRf) is based on the forward acting force (FRb) detected using the forward acting force detecting means 25fR and the backward acting force (FRb) detected using the rearward acting force detecting means 25bR. FRf) is the acting force based on the difference from FRf) and is the acting force of the gripping portion of the right handle 20R. In addition, the left grip portion action (FLb-FLf) is defined as a forward acting force (FLb) detected using the forward acting force detecting means 25fL and a backward acting force (FLB) detected using the rear acting force detecting means 25bL. FRL), which is the acting force based on the difference with the left handle 20R. Thus, the gripping force of the user input to the right handle 20R and the left handle 20L to hold each handle can be offset. The drive control unit 40 determines the difference between the magnitude of the right gripper acting force | (FRb-FRf) | and the magnitude of the left gripper acting force | (FLb-FLf) | Is determined to be smaller than the value Ferr (| FLb−FLf | ≒ | FLb−FLf |), it is determined that the user is not walking. On the other hand, if not, the drive control means 40 determines that the user is walking.

  In step S015, when the drive control unit 40 determines that FRb is larger than FRf (FRb> FRf) (Yes), the drive control unit 40 proceeds to step S020 and does not determine that FRb is larger than FRf (No). Proceeds to step S035. The drive control unit 40 determines that the user is moving the right handle 20R forward on the rail 30R when FRb> FRf is determined, and determines the right handle 20R when FRb> FRf is not determined. Is moved backward on the rail 30R.

  In step S020, when the drive control unit 40 determines that FLb is smaller than FLf (FLb <FLf) (Yes), the process proceeds to step S025, and when it is not determined that FLb is smaller than FLf (No). Proceeds to step S030. When determining that FLb <FLf, the drive control unit 40 moves the right handle 20R forward on the rail 30R and moves the left handle 20L rearward on the rail 30L without walking. It is determined that the user has made the walking support device 10 turn to the left (right turn). If the drive control unit 40 does not determine that FLb <FLf, the drive control unit 40 moves the right handle 20R forward on the rail 30R and moves the left handle 20L forward on the rail 30L without walking. It is determined that the user has made the walking support device 10 move forward.

  In step S035, when the drive control unit 40 determines that FLb is smaller than FLf (FLb <FLf) (Yes), the process proceeds to step S050, and when it is not determined that FLb is smaller than FLf (No). Proceeds to step S040. When it is not determined that FLb <FLf, the drive control unit 40 moves the right handle 20R backward on the rail 30R and moves the left handle 20L forward on the rail 30L without walking. It is determined that the user has made the walking support device 10 turn right (turn right). When determining that FLb <FLf, the drive control unit 40 moves the right handle 20R backward on the rail 30R without moving the user, and moves the left handle 20L backward on the rail 30L. And it is determined that the user desires to cause the walking support device 10 to move backward or stop.

  In step S025, the drive control unit 40 controls the drive unit 64R based on the determination result so that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes k × α (TrqR = k × α). The driving means 64L is controlled (the walking support device 10 is turned left) so that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes −k × α (TrqL = −k × α), and the progress control process is performed. To end. Here, α is a predetermined drive torque value for the drive wheels (the rear wheels 60RR and the rear wheels 60RL) stored in advance.

  In step S030, the drive control means 40 sets the forward torque TrqF to (| FRb-FRf | + | FLb-FLf |) (TrqF = (| FRb-FRf | + | FLb-FLf |)), and proceeds to step S045. Processing proceeds to The drive control means 40 obtains the sum of the magnitude of the right gripper acting force | (FRb-FRf) | and the magnitude of the left gripper acting force | (FLb-FLf) | to determine the forward torque Trq. get. The forward torque TrqF is the sum of the drive torque generated by the rear wheel 60RR (drive wheel) and the rear wheel 60RL (drive wheel) to advance the walking assist device 10.

  In step S040, the drive control unit 40 controls the drive unit 64R based on the determination result such that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes −k × α (TrqR = −k × α). Then, the driving means 64L is controlled (the walking support device 10 is turned right) so that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes k × α (TrqL = k × α), and the progress control process is performed. To end.

  In step S045, the drive control unit 40 sets the drive unit 64R based on the determination result such that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes k × TrqF / 2 (TrqR = k × TrqF / 2). And the driving means 64L is controlled such that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes k × TrqF / 2 (TrqL = k × TrqF / 2), and the processing of the progress control ends. .

  In step S050, the drive control unit 40 controls the drive unit 64R based on the determination result so that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes 0 (TrqR = 0), and the rear wheel 60RL ( The driving means 64L is controlled such that the driving torque TrqL of the driving wheels (TrqL = 0) becomes zero (TrqL = 0), and the progress control process is terminated. Note that the drive control unit 40 does not perform drive control on the drive wheels (rear wheels 60RR and 60RL) when determining that the user wants the walk assist device 10 to move backward or stop.

  In step S055, when the drive control unit 40 determines that FRb is larger than FRf (FRb> FRf) (Yes), the process proceeds to step S060, and when it is not determined that FRb is larger than FRf (No). Proceeds to step S080. The drive control unit 40 determines that the user is moving the right handle 20R forward on the rail 30R when FRb> FRf is determined, and determines the right handle 20R when FRb> FRf is not determined. Is moved backward on the rail 30R.

  In step S060, when the drive control unit 40 determines that FLb is smaller than FLf (FLb <FLf) (Yes), the process proceeds to step S065, and when it is not determined that FLb is smaller than FLf (No). Proceeds to step S070. When it is determined that FLb <FLf, the drive control unit 40 determines that the user has moved the right handle 20R forward on the rail 30R and moved the left handle 20L backward on the rail 30L. I do. When it is not determined that FLb <FLf, the drive control unit 40 determines that the user has moved the right handle 20R forward on the rail 30R and has moved the left handle 20L forward on the rail 30L. I do.

  In step S065, when the drive control unit 40 determines that (FRb−FRf) is larger than (FLf−FLb) ((FRb−FRf)> (FLf−FLb)) (Yes), the process proceeds to step S075. If it is not determined that (FRb-FRf) is larger than (FLf-FLb) (No), the process proceeds to step S110. When determining that (FRb−FRf)> (FLf−FLb), the drive control unit 40 determines that the user is walking while swinging his arm. If the drive control unit 40 does not determine that (FRb-FRf)> (FLf-FLb), the drive control unit 40 determines that the user desires to reverse or stop the walking support device 10.

  In step S070, the drive control means 40 sets the forward torque TrqF to (| FRb-FRf | + | FLb-FLf |) (TrqF = (| FRb-FRf | + | FLb-FLf |)), and proceeds to step S105. Proceed to

  In step S075, the drive control means 40 sets the forward torque TrqF to (| FRb-FRf |-| FLb-FLf |) (TrqF = (| FRb-FRf |-| FLb-FLf |)), and proceeds to step S095. Processing proceeds to

  In step S080, when the drive control unit 40 determines that FLb is smaller than FLf (FLb <FLf) (Yes), the process proceeds to step S110, and when it is not determined that FLb is smaller than FLf (No). Proceeds to step S085. When determining that FLb <FLf, the drive control unit 40 determines that the right handle 20R is moved rearward on the rail 30R and the left handle 20L is moved rearward on the rail 30L. It is determined that the user desires to make the walking assist device 10 move backward or stop.

  In step S085, when the drive control unit 40 determines that (FRf-FRb) is smaller than (FLb-FLf) ((FRf-FRb) <(FLb-FLf)) (Yes), the process proceeds to step S090. If (FRf-FRb) is not determined to be smaller than (FLb-FLf) (No), the process proceeds to step S110. When determining that (FRf−FRb) <(FLb−FLf), the drive control unit 40 determines that the user is walking while swinging his arm. If the drive control unit 40 does not determine that (FRf−FRb) <(FLb−FLf), the drive control unit 40 determines that the user desires to reverse or stop the walking assist device 10.

  In step S090, the drive control means 40 sets the forward torque TrqF to (| FLb-FLf |-| FRb-FRf |) (TrqF = (| FLb-FLf |-| FRb-FRf |), and proceeds to step S100. Proceed with the process.

  In step S095, the drive control means 40 sets the drive torque TrqR of the rear wheel 60RR (drive wheel) to k × TrqF / 2-β based on the determination result (TrqR = k × TrqF / 2-β). The driving means 64R is controlled so that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes k × TrqF / 2 + β (TrqL = k × TrqF / 2 + β) to control the driving means 64R. The process ends. When the user moves the right handle 20R forward and the left handle 20L backward, the walking support device 10 generates a left turning force that is a force for turning the walking support device 10 to the left. . The drive control unit 40 controls each of the drive units 64L and 64R such that the drive torque TrqL of the rear wheel 60RL becomes larger than the drive torque TrqR of the rear wheel 60RR in order to suppress the left turning force. Thereby, meandering of the walking assist device 10 due to the left turning force caused by the swing of the arm of the user can be suppressed, and the walking assist device 10 can be moved forward with more straight ahead stability. Here, β is a predetermined drive torque value stored in advance for the drive wheels (the rear wheel 60RR and the rear wheel 60RL). Further, the drive control means 40 detects the turning force (yaw angular velocity) generated in the walking assist device 10 by the angular velocity sensor 52 (see FIGS. 1 and 5), and determines the value of β according to the magnitude of the turning force. May be determined. Thereby, the meandering of the walking support device 10 can be more accurately suppressed.

  In step S100, the drive control unit 40 sets the drive unit 64R based on the determination result such that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes k × TrqF / 2 + β (TrqR = k × TrqF / 2 + β). The driving means 64L is controlled so that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes k × TrqF / 2-β (TrqL = k × TrqF / 2-β). The process ends. When the user moves the right handle 20R to the rear and the left handle 20L to the front, the walking assist device 10 includes a right turning force, which is a force for turning the walking assist device 10 right. Occurs. The drive control means 40 controls each of the drive means 64R and 64L such that the drive torque TrqR of the rear wheel 60RR becomes larger than the drive torque TrqL of the rear wheel 60RL in order to suppress the right turning force. Thereby, the meandering of the walking support device 10 due to the right turning force generated by the swing of the arm of the user can be suppressed, and the walking support device 10 can be moved forward with more straight ahead stability.

  In step S105, the drive control unit 40 sets the drive unit 64R based on the determination result such that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes k × TrqF / 2 (TrqR = k × TrqF / 2). And the driving means 64L is controlled such that the driving torque TrqL of the rear wheel 60RL (driving wheel) becomes k × TrqF / 2 (TrqL = k × TrqF / 2), and the processing of the progress control ends. .

  In step S110, the drive control unit 40 controls the drive unit 64R based on the determination result so that the drive torque TrqR of the rear wheel 60RR (drive wheel) becomes 0 (TrqR = 0), and the rear wheel 60RL ( The driving means 64L is controlled such that the driving torque TrqL of the driving wheels (TrqL = 0) becomes zero (TrqL = 0), and the progress control process is terminated.

● [Operation of walking support device 10 when user is not walking (FIG. 7)]
In FIG. 7, when the user is not walking, the handles 20R, 20L are moved in the front-rear direction on the rails (30R, 30L) provided respectively around the predetermined position Op1. The case where the handle 20R is at the front position P1f on the rail 30R and the case where the handle 20L is at the rear position P1b on the rail 30L, that is, the case where the user puts the right arm forward and pulls the left arm backward are represented by solid lines. I have. The case where the handle 20R is at the rear position P1b on the rail 30R and the handle 20L is at the front position P1f on the rail 30L, that is, the case where the user pulls the right arm backward and puts the left arm forward is indicated by a chain line. It is represented by A dotted line indicates a case where the handle 20R is at the predetermined position Op1 on the rail 30R and a case where the handle 20L is at the predetermined position Op1 on the rail 30L, that is, the case where the user does not put the left and right arms forward or pull back. It is represented by Note that the expression “the user puts his / her arm forward” means that each handle (20R, 20L) is moved forward from the rear on the rail (30R, 30L) provided with each arm, and the arm is pulled backward. Means that the respective handles (20R, 20L) are moved from the front to the rear on the rails (30R, 30L) provided with the respective handles.

  When the handle 20R is at the predetermined position Op1, only the grip force gripped by the user is input to the handle 20R, and the rear pressure FRb (gripping force) of the right handle and the front pressure FRf (right pressure) of the right handle. Since the magnitudes of the gripping forces are equal, the right gripping portion acting force (FRb-FRf) becomes zero. When the handle 20L is at the predetermined position Op1, the left grip portion acting force (FLb-FLf) also becomes zero. Therefore, the sum and difference of the magnitude of the right gripper acting force | (FRb-FRf) | and the magnitude of the left gripper acting force | (FLb-FLf) | are both zero.

  When the handle 20R is located at the position P1f, the handle 20R includes a holding force for pushing the handle 20R forward together with the gripping force of the user and holding means Spg1R for returning the handle 20R to the predetermined position Op1. The restoring force FRtnR by the holding means Spg2R is also input. When the handle 20L is located at the position P1b, the handle 20L is held by the holding means Spg1L which attempts to return the handle 20L to the predetermined position Op1 together with the gripping force of the user and the force by which the user pulls the handle 20L backward. The restoring force FRtnL by the means Spg2L is also input.

  When the right handle 20R is at the position P1f, the rear pressure FRb (gripping force + pressing force + restoring force FRtnR) of the handle 20R becomes larger than the front pressure FRf (gripping force) of the right handle, and the right grip is held. The partial acting force (FRb-FRf) becomes “positive”. When the left handle 20L is at the position P1b, the rear pressure FRb (gripping force) of the handle 20R is smaller than the front pressure FLf (gripping force + pulling force + restoring force FRtnR) of the left handle, The right gripping portion acting force (FRb-FRf) becomes “negative”.

  Therefore, the drive control means 40 (see FIG. 5) allows the user to move the handle 20R forward when the right gripping portion acting force (FRb-FRf) on the right handle 20R is “positive”. It is determined to be a state, and if “negative”, it is determined to be moving backward. Similarly, the drive control unit 40 determines that the user has moved the handle 20L forward when the left gripping portion acting force (FLb-FLf) of the left handle 20L is “positive”. It is determined, and if “negative”, it is determined that it is moving backward.

  When the right gripping portion acting force (FRb-FRf) is "positive" and the left gripping portion acting force (FLb-FLf) is "negative", the drive control means 40 causes the user to put the right arm forward. , It is determined that the left arm is pulled backward, and it is determined that the left turn of the walking support device 10 is desired. In addition, when the right gripping portion acting force (FRb-FRf) is not “positive” and the left gripping portion acting force (FLb−FLf) is not “negative”, the drive control unit 40 pulls the right arm backward. , It is determined that the left arm is extended forward, and it is determined that the right turn of the walking support device 10 is desired.

  The drive control means 40 determines that the user pulls the right arm backward when the right gripping portion acting force (FRb-FRf) is not "positive" and the left gripping portion acting force (FLb-FLf) is "negative". It is determined that the left arm is being pulled backward, and it is determined that the backward support or stop of the walking support device 10 is desired. In addition, the drive control means 40 causes the user to extend the right arm forward when the right gripping portion acting force (FRb-FRf) is “positive” and the left gripping portion acting force (FLb−FLf) is not “negative”. Then, it is determined that the left arm is extended forward, and it is determined that the walking support device 10 is desired to move forward.

● [Operation of walking support device 10 when user is walking (FIG. 8)]
In FIG. 8, when the user is walking, the handles 20R, 20L are moved in the front-rear direction on the rails (30R, 30L) provided respectively around a position Op2 ahead of the predetermined position Op1. ing. The case where the handle 20R is at the front position P2f on the rail 30R and the case where the handle 20L is at the rear position P2b on the rail 30L, that is, the case where the user puts the right arm forward and pulls the left arm backward are represented by solid lines. I have. Also, the case where the handle 20R is at the rear position P2b on the rail 30R and the handle 20L is at the front position P2f on the rail 30L, that is, the case where the user pulls the right arm backward and puts the left arm forward, is indicated by a chain line. It is represented by The case where the handle 20R is at the position Op2 on the rail 30R and the case where the handle 20L is at the position Op2 on the rail 30L are indicated by dotted lines. The vehicle driving force F is a force for the user to move the walking assist device 10 (see FIG. 1) forward, and includes a right vehicle driving force FR generated on the right rail 30R and a left vehicle driving force FR generated on the left rail 30L. Vehicle driving force FL.

  When the handle 20R is located at the position P2f, the rear pressure FRb (gripping force + pressing force + restoring force FRtnR) of the handle 20R becomes larger than the front pressure FRf (gripping force) of the right handle, and the right gripping portion operates. The force (FRb-FRf) becomes "positive" (FR). Also, when the handle 20L is at the position P2b, the rear pressure FLb (gripping force) of the handle 20L becomes smaller than the front pressure FLf (gripping force + pulling force + restoring force FLtnR) of the left handle, and the left grip is held. The partial acting force (FLb-FLf) becomes "negative" (FL).

  When the right gripping portion acting force (FRb-FRf) is "positive" and the left gripping portion acting force (FLb-FLf) is "negative", the drive control means 40 causes the user to put the right arm forward. , It is determined that the left arm is being pulled backward. When the right gripping portion acting force (FRb-FRf) is "positive" and the left gripping portion acting force (FLb-FLf) is "negative", the drive control means 40 walks while the user swings his arm. It is determined that there is. Further, the drive control means 40 determines that the magnitude of the right gripper acting force | FRb-FRf | (| FR |) is greater than the magnitude of the left gripper acting force | FLb-FLf | (| FL |). In this case, it is determined that the user desires to move the walking support device 10 forward. On the other hand, if not, the drive control means 40 determines that the user desires to reverse or stop the walking support device 10.

  When the right gripping portion acting force (FRb-FRf) is not "positive" and the left gripping portion acting force (FLb-FLf) is not "negative", the drive control means 40 walks while the user swings his arm. It is determined that there is. Further, the drive control means 40 determines that the magnitude | FRb−FRf | (| FR |) of the right gripper acting force is smaller than the magnitude | FLb−FLf | (| FL |) of the left gripper acting force. In this case, it is determined that the user desires to move the walking support device 10 forward. On the other hand, if not, the drive control means 40 determines that the user desires to reverse or stop the walking support device 10.

  When the right gripping portion acting force (FRb-FRf) is "positive" and the left gripping portion acting force (FLb-FLf) is not "negative", the drive control means 40 walks without swinging the arm. It is determined that there is. Further, the drive control means 40 determines that the magnitude | FRb−FRf | (| FR |) of the right gripper acting force is smaller than the magnitude | FLb−FLf | (| FL |) of the left gripper acting force. In this case, it is determined that the user desires to move the walking support device 10 forward. On the other hand, if not, the drive control means 40 determines that the user desires to reverse or stop the walking support device 10.

  When the right gripping portion acting force (FRb-FRf) is not "positive" and the left gripping portion acting force (FLb-FLf) is "negative", the drive control means 40 walks without swinging the arm. It is determined that the user wants to reverse or stop the walking support device 10.

● [Progress control processing of the drive control means 40 in the second embodiment (FIGS. 9 to 14)]
With reference to FIGS. 9 to 14, the progress control process of the drive control unit 40 in the second embodiment will be described in detail. In the second embodiment, instead of controlling the progress with the acting force on the handles 20R and 20L (see FIG. 2) of the first embodiment, the handles 20Ra and 20La (see FIG. 9) on the rails 30Ra and 30La are used. The difference is that the progress is controlled according to the movement state (the state of the swing of the arm of the user) (see FIG. 9).

● [Explanation of grip part position detecting means 27R and 27L and grip part inclination detecting means 33R and 33L (FIGS. 5 and 9)]
FIG. 9 is a perspective view illustrating the configuration and function of a right handle 20Ra and a right rail 30Ra in the second embodiment. Note that, as in the first embodiment, the structure is symmetrical on the left and right sides of the frame 50 (see FIG. 1). As shown in FIG. 9, the rail 30Ra (30La) is different from the rail 30R (30L) of the first embodiment (see FIG. 2) in that the grip portion position detection plate 27a is located inside the left side surface in the front-rear direction. In that it has Further, the right handle 20Ra is different from the handle 20R in that the right handle 20Ra has an anchor portion 22C provided with a grip portion position detecting means 27R. The left handle 20La is different from the handle 20L in that it has an anchor portion 22C provided with a grip portion position detecting means 27L.

  The grip position detection means 27R outputs a signal corresponding to the position of the handle 20Ra in the front-rear direction with respect to the grip position detection plate 27a to the drive control means 40 (see FIG. 5). The grip position detection unit 27L outputs a signal corresponding to the position of the handle 20La in the front-rear direction with respect to the grip position detection plate 27a to the drive control unit 40. The grip portion position detection plate 27a is, for example, a resistor, and may have a resistance value that changes according to the position in the front-rear direction. As a result, the gripper position detection means 27R and 27L output a signal corresponding to the position in the front-rear direction with respect to the gripper position detection plate 27a.

  In FIG. 9, the connection portion at the lower end of the handle 20Ra and the anchor portion 22C are formed as a ball joint and a concave portion as described above, and the handle 20Ra can tilt forward, backward, left, and right with respect to the anchor portion 22C. It is connected to the. The connecting portion is held by an elastic body or the like so that the handle 20Ra is in an upright state without being inclined with respect to the anchor portion 22C. Around the connection portion, gripping portion inclination detecting means 33R capable of detecting the inclination direction and the amount of inclination of the handle 20Ra with respect to the anchor portion 22C in the front, rear, left and right directions is provided. The gripping part inclination detecting means 33R is, for example, a pressure sensor, and outputs a detection signal corresponding to the inclination direction (front and rear, left and right) and the amount of inclination of the handle 20Ra with respect to the anchor part 22C to the drive control means 40 (see FIG. 5). The same applies to the handle 20La, and a description of the handle 20La will be omitted.

● [Processing of progress control of drive control means 40 (FIGS. 10 to 12)]
The processing procedure of the progress control in the drive control means 40 of the walking support device 10 (see FIG. 1) will be described with reference to the flowcharts of FIGS. When activated, the drive control means 40 executes the progress control at predetermined time intervals (for example, at intervals of several [ms]). Hereinafter, each step of the progress control process will be described in detail.

● [Overall processing of progress control (Fig. 10)]
FIG. 10 is a flowchart illustrating a procedure of overall processing of progress control of the drive control unit of the walking assistance device 10 according to the second embodiment.

  In step SA010, the drive control unit 40 obtains the right hand position HPR and the left hand position HPL from the grip part position detection units 27R and 27L, and obtains the amplification coefficient k from the assist amount adjustment volume 74a. Then, the process proceeds to step SUB100 (determination of target traveling speed). The position HPR of the right handle is a position of the right handle 20Ra in the front-rear direction of the rail 30Ra. Further, the position HPL of the left handle is a position in the front-rear direction of the rail 30La of the left handle 20La. The right hand position HPR corresponds to a right hand grip front and rear position which is the position of the right hand (holding part) in the front-back direction with respect to the frame, and the left hand position HPL is the left hand side in the front-back direction with respect to the frame. This corresponds to the front-rear position of the left grip, which is the position of the handle (grip).

  In step SUB100, drive control means 40 performs the process of step SUB100 shown in FIG. 11 (determination of target traveling speed), and proceeds to step SA015. The details of the processing in step SUB100 will be described later.

  In step SA015, when the drive control unit 40 determines that the user is waving his arm (Yes), the process proceeds to step SUB200 (adjustment of the target traveling speed), and the drive control unit 40 determines that the user is not waving his arm. If it is determined (No), the process proceeds to step SA020. For example, the drive control means 40 changes the right / left gripper front / rear position obtained based on the previous right / left gripper front / rear position and the current right / left gripper front / rear position, or the previous left / right gripper front / rear position and the current left gripper left / right gripper. It is determined whether or not the user is waving his arm, based on the change state of the front and rear positions of the left gripping part obtained based on the front and rear positions.

  When the process has proceeded to step SUB200, the drive control unit 40 performs the process of step SUB200 (adjustment of the target traveling speed) shown in FIG. 12, and proceeds to step SA020. The details of the process of step SUB200 will be described later.

  In step SA020, the drive control unit 40 controls each of the drive units 64R and 64L so that the target advance speeds UR and UL are reached, and ends the advance control.

● [Determination of target traveling speed (step SUB100) (FIG. 11)]
FIG. 11 is a flowchart illustrating a procedure of a process (SUB100) of determining the target traveling speed (UR, UL) of the walking support device 10 (see FIG. 1). The target traveling speed (UR, UL) is a target speed at which the walking support device 10 proceeds. The drive control means 40 (see FIG. 5) controls the drive means 64R and 64L so as to reach the target traveling speed (UR, UL). Hereinafter, the details of step SUB100 will be described. When the processing has proceeded to step SUB100, the drive control means 40 proceeds to step SUB110 in FIG.

  In step SUB110, the drive control unit 40 captures the rotation speed vdr of the (right) drive unit 64R (see FIG. 1), captures the rotation speed vdl of the (left) drive unit 64L (see FIG. 1), and performs processing in step SUB115. Advance.

  In step SUB115, the drive control unit 40 determines the user front-rear position, which is the position of the user in the front-rear direction with respect to the frame, based on the position HPR of the right handle 20Ra and the position HPL of the left handle 20La. Then, the process proceeds to step SUB120. For example, the drive control unit 40 sets [current position HPR + current position HPL] / 2 (that is, a position obtained by averaging the current position HPR and the current position HPL) as the user front-rear position. The front-back position of the user is obtained both when the user is waving his arm and when the user is not waving his arm. For example, as shown in FIG. 13, when the current position of the right handle 20Ra is the position HPRf and the current position of the left handle 20La is the position HPLb, the user front-rear position = [position HPRf + position HPLb] / 2. Thus, the position SPR (SPL), which is the center between the position HPRf (corresponding to the front and rear position of the right grip) and the position HPLb (corresponding to the front and rear position of the left grip), is the user front and rear position.

  In step SUB120, the drive control means 40 determines whether or not the user's front-rear position is ahead of the reference position (in this case, larger = indicates that it is forward), and the user's front-rear position is determined as the reference. If the position is ahead of the position (Yes), the process proceeds to step SUB125A, and if the user front-rear position is the same as or behind the reference position (No), the process proceeds to step SUB125B. The reference position (corresponding to a predetermined position) is set at a substantially central position in the front-back direction with respect to the frame. For example, in the example of FIG. 14, a position STD_P which is substantially at the center in the front-rear direction with respect to the frame is set as a reference position (predetermined position). In the example of FIG. 14, the user's front-rear position obtained from the current position of the right handle 20Ra indicated by the solid line and the position of the left handle 20La indicated by the solid line is a position SPR (SPL). An example is shown. The example of FIG. 14 illustrates an example in which the user's front-rear position (position SPR) is ahead of the reference position (position STD_P) (position SPR> position STD_P). In this case, since the walking support device is behind the user, the process proceeds to step SUB125A, and the rotation speeds vdr and vdl are increased.

  When the process proceeds to step SUB125A, the drive control unit 40 stores a value obtained by adding the progress correction speed α21 to the (right) rotation speed vdr as a new (right) rotation speed vdr. Further, the drive control unit 40 stores a value obtained by adding the progress correction speed α21 to the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB140. Note that instead of adding α21, k × α21 obtained by multiplying α21 by the amplification coefficient k may be added.

  When the process proceeds to step SUB125B, the drive control unit 40 stores a value obtained by subtracting the progress correction speed α22 from the (right) rotation speed vdr as a new (right) rotation speed vdr. Further, the drive control means 40 stores a value obtained by subtracting the progress correction speed α22 from the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB140. Note that instead of subtracting α22, k × α22 obtained by multiplying α22 by the amplification coefficient k may be subtracted.

  As described above, in steps SUB120, SUB125A, and SUB125B, the drive control unit 40 obtains the respective rotational speeds vdr and vdl so that the user's front-rear position approaches the reference position (the predetermined position in the front-rear direction with respect to the frame) (ie, Control each driving means).

[Right and left turning correction]
When the process proceeds to step SUB140, the drive control unit 40 determines the (right) tilt direction of the handle and the (left) tilt based on the detection signals from the gripper tilt detection units 33R and 33L (see FIG. 9). The inclination direction of the hand is acquired, and the process proceeds to step SUB145. The processing of steps SUB140 to SUB175 detects a right or left turn request of the user based on the inclination direction of the (right) handle and the (left) handle, and when the turn request is detected, This is a process for turning the walking support device by giving a rotation difference to the rotation speeds vdr and vdl.

  In step SUB145, the drive control means 40 determines whether or not it is satisfied that the (right) handle is not inclined left and right and the (left) handle is not inclined left and right, If satisfied (Yes), the process proceeds to step SUB175; if not satisfied (No), the process proceeds to step SUB150.

  When the process proceeds to step SUB150, the drive control unit 40 determines whether or not it is satisfied that the (right) handle is inclined to the right and the (left) handle is inclined to the left. If it is satisfied (Yes), the process proceeds to step SUB175, and if it is not satisfied (No), the process proceeds to step SUB155.

  When the process proceeds to step SUB155, the drive control unit 40 determines whether or not it is satisfied that the (right) handle is inclined to the left and the (left) handle is inclined to the right. The process proceeds to step SUB175 if satisfied (Yes), and proceeds to step SUB160 if not satisfied (No).

  When the process has proceeded to step SUB160, the drive control means 40 determines whether the (right) handle is inclined to the right, and when the (right) handle is inclined to the right (Yes), The process proceeds to step SUB170A, and if not inclined to the right (No), the process proceeds to step SUB165.

  When the process proceeds to step SUB165, the drive control unit 40 determines whether the (left) handle is inclined to the right or not (Yes) if the (left) handle is inclined to the right (Yes). The process proceeds to step SUB170A, and if not inclined to the right (No), the process proceeds to step SUB170B.

  When the process proceeds to step SUB170A, the drive control unit 40 stores a value obtained by subtracting the turning correction speed β21 from the (right) rotation speed vdr as a new (right) rotation speed vdr. Further, the drive control means 40 stores the value obtained by adding the turning correction speed β21 to the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB175.

  When the process proceeds to step SUB170B, the drive control unit 40 stores a value obtained by adding the turning correction speed β21 to the (right) rotation speed vdr as a new (right) rotation speed vdr. The drive control unit 40 stores a value obtained by subtracting the turning correction speed β21 from the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB175.

  When the process proceeds to step SUB175, the drive control means 40 substitutes the (right) rotational speed vdr for the (right) target travel speed UR and stores it, and stores the (left) rotational speed vdl in the (left) target travel speed UL. And stores it, and ends the process (in this case, the process returns to step SA015 in FIG. 10).

● [Adjustment of target traveling speed (SUB200) (FIG. 12)]
As shown in step SA015 in FIG. 10, the drive control unit 40 reduces the meandering of the walking support device that occurs with the user's arm swing walking operation when the user is walking while swinging his arm. Is adjusted in step SUB200 shown in FIG. When the user walks while swinging his arm and pushes the handle forward (right) and pulls the handle backward (left), the walking support device receives a force turning left. In addition, when the user pulls the (right) handle backward and pushes the (left) handle forward, the walking assist device receives the force of turning right. Therefore, when the user walks while alternately swinging the left and right arms, the walking support device receives a force that snakes left and right. Hereinafter, the details of the processing of step SUB200 for reducing the meandering of the walking support device will be described. When the process has proceeded to step SUB200, the drive control unit 40 proceeds to step SUB210 in FIG.

  In step SUB210, the drive control means 40 determines whether the position of the (right) handle is forward (greater) than the (right) release position + distance L2, and the position of the (right) handle is (Right) If it is forward (greater) than the release position + distance L2 (Yes), the process proceeds to step SUB220B; otherwise (No), the process proceeds to step SUB215. The (right) release position is a position where the (right) handle is restored to the vicinity of the center of the rail 30R by the elastic member when the user does not hold the (right) handle. For example, the drive control unit 40 stores the position when the (right) handle is not gripped by the user as the (right) release position. The distance L2 is a distance appropriately set as a dead zone.

  When the process proceeds to step SUB215, the drive control unit 40 determines whether the position of the (right) handle is behind (small) the (right) release position-distance L2, and If the position of the hand is behind (small) the (right) release position-distance L2 (small) (Yes), the process proceeds to step SUB220A; otherwise (No), the process proceeds to step SUB230.

  When the process proceeds to step SUB220A, the drive control unit 40 stores the value obtained by adding the meandering correction speed γ21 to the (right) rotation speed vdr as a new (right) rotation speed vdr, and proceeds to step SUB230. .

  When the process proceeds to step SUB220B, the drive control unit 40 stores a value obtained by subtracting the meandering correction speed γ21 from the (right) rotation speed vdr as a new (right) rotation speed vdr, and proceeds to step SUB230. .

  In step SUB230, the drive control means 40 determines whether the position of the (left) handle is forward (greater) than the (left) release position + the distance L2, and the (left) handle position is (Left) If it is forward (greater) than the release position + distance L2 (Yes), the process proceeds to step SUB240B; otherwise (No), the process proceeds to step SUB235. The (left) release position is a position where the (left) handle is restored to the vicinity of the center of the rail 30L by the elastic member when the user does not grip the (left) handle. For example, the drive control means 40 stores the position when the (left) handle is not gripped by the user as the (left) release position. The distance L2 is a distance appropriately set as a dead zone.

  When the process proceeds to step SUB235, the drive control unit 40 determines whether the position of the (left) handle is behind (smaller) than the (left) release position-distance L2, and If the hand position is behind (small) the (left) release position-distance L2 (small) (Yes), the process proceeds to step SUB240A; otherwise (No), the process proceeds to step SUB250.

  When the process proceeds to step SUB240A, the drive control unit 40 stores the value obtained by adding the meandering correction speed γ21 to the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB250. .

  When the process proceeds to step SUB240B, the drive control unit 40 stores a value obtained by subtracting the meandering correction speed γ21 from the (left) rotation speed vdl as a new (left) rotation speed vdl, and proceeds to step SUB250. .

  When the process proceeds to step SUB250, the drive control means 40 substitutes the (right) rotational speed vdr for the (right) target travel speed UR and stores it, and stores the (left) rotational speed vdl in the (left) target travel speed UL. And stores the value, and ends the process (in this case, the process returns to step SA020 in FIG. 10).

  As described above, in the process of step SUB200, the drive control unit 40 controls the respective drive units (in this case, the control amount) so as to reduce the meandering of the walking support device that occurs with the arm swing walking operation of the user. The rotation speeds vdr, vdl) are corrected at the meandering correction speed γ21. In the second embodiment, the rotation speed of the (right) drive unit is described as vdr, and the rotation speed of the (left) drive unit is described as vdl. However, vdr is (right) the rotation speed of the rear wheel 60RR, and vdl is (left) ) The rotation speed of the rear wheel 60RL may be used.

● [Overall Configuration of Walking Support Device in Third and Fourth Embodiments (FIG. 15)]
FIG. 15 is a perspective view illustrating the overall configuration of the walking assist devices 10A and 10B according to the third and fourth embodiments described below.

  The walking assistance devices 10A and 10B are different from the walking assistance device 10 in that an assist mode changeover switch 72a and a training mode changeover switch 72b are provided. The walking support device 10A is different from the walking support device 10 in that rails 30Rb and 30Lb are provided instead of the rails 30R and 30L. The walking assistance device 10B is different from the walking assistance device 10 in that rails 30Rc and 30Lc are provided instead of the rails 30R and 30L.

  The assist mode changeover switch 72a is a switch that is set to ON when the user desires the “assist mode” and is set to OFF when the user desires the “training mode”. The training mode changeover switch 72b is a switch that is set to ON when the user desires the "training mode" and is set to OFF when the user desires the "assist mode". Note that the assist mode changeover switch 72a and the training mode changeover switch 72b may be ones that switch between the "assist mode" and the "training mode" with one switch.

  In the "assist mode", the handle (20R, 20L, 20Rb, 20Lb) (corresponding to the grip portion) (see FIGS. 17 and 20) locks the rail (30Rb, 30Lb, 30Rc, 30Lc) with the lock mechanism (grip). The walking assist devices 10A and 10B are a normal walker (a walker of a type that is pushed with both hands without swinging both arms). Works like that. In the “training mode”, the handle (20R, 20L, 20Rb, 20Lb) can be moved in the front-rear direction with respect to the rails (30Rb, 30Lb, 30Rc, 30Lc) by a lock mechanism (“released state” described later). The walking support devices 10A and 10B are driven according to the swing of the user's arm.

● [Input and output of drive control means 40A of walking support devices 10A and 10B (FIG. 16)]
FIG. 16 illustrates input / output of the drive control unit 40A of the walking assistance devices 10A and 10B in the third and fourth embodiments. The drive control means 40A is different from the drive control means 40 in that, instead of the grip part position detection means 27R and 27L, the grip part position detection means 34R and 34L, the traveling speed detection means 64RE and 64LE, and the assist mode changeover switch 72a And a training mode changeover switch 72b.

  The acting force measuring means 25R and 25L are used in the walking support device 10A according to the third embodiment. Further, grip part inclination detecting means 33R, 33L, grip part position detecting means 34R, and grip part position detecting means 34L indicated by dotted lines are used in the walking assist device 10B in the fourth embodiment.

● [Configuration and Function of Handle and Rail in Third Embodiment (FIGS. 17 and 18)]
FIG. 17 is a perspective view illustrating the configuration and functions of a handle and a rail according to the third embodiment. FIG. 18 is a cross-sectional view of the handle seen from the XVIII-XVIII direction in FIG.

  As shown in FIG. 17, the rails 30Rb and 30Lb are provided with a lock mechanism 80A (gripping portion) that locks (restricts) the movement of the handle (20R, 20L) in the front-rear direction with respect to the rails 30R, 30L (see FIG. 2). (Corresponding to restraining means). The lock mechanism 80A is provided on each of the rails 30Rb and 30Lb (corresponding to an arm), and has a handle 20R held at a predetermined position Op1 (see FIG. 7) by a restoring force of the holding means Spg1R, Spg2R, Spg1L, and Spg2L. 20L (corresponding to a grip portion) can be restricted to a predetermined position Op1 in the front-rear direction with respect to the frame 50.

  As shown in FIG. 18, the lock mechanism 80A includes, for example, a lock pin 81, a lock groove 83A, pin guides 82A and 82B, a slide switch 84, a switch groove 86, and an urging means 88. ing. The lock pin 81 is provided on each of the rails 30Rb and 30Lb such that the position of the upper end in the front-rear direction is substantially equal to the position of the predetermined position Op1. The lock groove 83 </ b> A is provided on the bottom surface of the anchor portion 22 </ b> Ba, has a size such that the opening can insert the tip of the lock pin 81, and has a depth that allows the tip of the lock pin 81 to be inserted. . The urging means 88 is, for example, a spring or the like.

  When the user slides the slide switch 84 forward along the switch groove 86 provided in the rail (30Rb, 30Lb), the lock pin 81 moves upward by being guided by the pin guides 82A, 82B. The tip is inserted into the lock groove 83A. Accordingly, since the lock pin 81 restricts the movement of the anchor portion 22Ba in the front-rear direction, the handle (20R, 20L) is restrained at the predetermined position Op1 (see FIG. 7) in the front-rear direction with respect to the frame 50 (see FIG. 15). Is done.

  When the user slides the slide switch 84 backward along the switch groove 86 provided in the rail (30Rb, 30Lb), the lock pin 81 moves downward by being guided by the pin guides 82A, 82B. The leading end is pulled out from the lock groove 83A. Thus, the handles (20R, 20L) can move freely in the front-back direction with respect to the frame 50.

  Each of the lock mechanisms 80A is either in a restrained state in which the handles 20R, 20L (grip portions) are restrained at a predetermined position Op1, or in a released state in which the handles 20R, 20L are released without being restrained in a predetermined position Op1. Can be set to the state. When each of the lock mechanisms 80A is set in the constrained state, the drive control unit 40A (see FIG. 16) calculates each of the lock mechanisms 80A based on the detection signals from the acting force measuring units 25L and 25R (see FIG. 5). The respective driving means 64R, 64L (see FIG. 16) are controlled based on the acting force of.

● [Overall Processing of Progress Control of Drive Control Unit of Walking Support Device in Third Embodiment (FIG. 19)]
FIG. 19 is a flowchart illustrating the procedure of the overall processing of the progress control of the drive control unit 40A of the walking support device 10A according to the third embodiment. When activated, the drive control unit 40A executes the progress control at predetermined time intervals (for example, at intervals of several [ms]). Hereinafter, each step of the progress control process will be described in detail.

  In step SC010, when drive control unit 40A determines that the mode is the assist mode (Yes), the process proceeds to step SC020A, and when it is determined that the mode is not the assist mode (No), the process proceeds to step SC020B. When the assist mode changeover switch 72a is turned on (in this case, the training mode changeover switch 72b is turned off), the drive control unit 40A determines that the current mode is the "assist mode" and sets the training mode changeover switch 72b. If it is ON (in this case, the assist mode changeover switch 72a is OFF), it is determined that the mode is the "training mode".

  In step SC020A, drive control means 40A sets amplification coefficient k to a predetermined value ka, and proceeds to step SC030. Note that the predetermined value ka is an initial value of the amplification coefficient in the assist mode, and is obtained by an appropriate experiment and stored in the storage unit 44 in advance.

  In step SC020B, drive control means 40A sets amplification coefficient k to a predetermined value kt, and proceeds to step SC030. Note that the predetermined value kt is an initial value of the amplification coefficient in the training mode, is obtained by an appropriate experiment, and is stored in the storage unit 44 in advance.

  In step SC030, the drive control unit 40A executes the process of the progress control in FIG. 6, and ends the process.

● [Configuration and Function of Handle and Rail in Fourth Embodiment (FIGS. 20, 21)]
FIG. 20 is a perspective view illustrating the configuration and functions of a handle and a rail according to the fourth embodiment. FIG. 21 is a cross-sectional view of the handle seen from the XXI-XXI direction in FIG.

  As shown in FIG. 20, the rail 30Rc (30Lc) is different from the rail 30R (30L) in that it has a handle 20Rb (20Lb), pulleys PB and PF, and a wire W. .

  The rail 30Rc (30Lc) is provided with pulleys PB and PF at both ends in the front-rear direction. The wire W is hung on a pulley PF disposed on the front and a pulley PB disposed on the rear, and synchronizes the respective rotations. The wire W is fixed to the wire connecting portion WA of the anchor portion 22Bb, and the wire W is inserted into the wire hole WH without being fixed. The handle 20Rb (20Lb) is connected to the anchor 22Bb.

  The gripper position detecting means 34R and 34L are, for example, encoders, and are provided coaxially with the pulley PF. Thus, when the user grips the handle 20Rb (20Lb) and moves the frame 50 in the front-rear direction, the rotation amount of the pulley PF, that is, the movement amount of the handle 20Rb (20Lb) is controlled by the drive control unit 40A ( (See FIG. 16).

  As shown in FIG. 16, the driving unit 64L is provided with a traveling speed detecting unit 64LE such as an encoder, and outputs a detection signal corresponding to the rotation of the driving unit 64L to the driving control unit 40A. The drive control unit 40A can detect the traveling speed (the traveling speed by the rear wheel 60RL) of the walking assist device 10B based on the detection signal from the traveling speed detection unit 64LE. Similarly, the driving means 64R is provided with a traveling speed detecting means 64RE such as an encoder, and outputs a detection signal corresponding to the rotation of the driving means 64R to the drive control means 40A. The drive control unit 40A can detect the traveling speed (the traveling speed by the rear wheel 60RR) of the walking assist device 10B based on the detection signal from the traveling speed detection unit 64RE.

  Further, the rails 30Rc and 30Lc are different in that they have a lock mechanism 80B (corresponding to a gripping part restraining means) that locks the handle (20Rb and 20Lb) in the front-rear direction with respect to the rails 30Rc and 30Lc. . The lock mechanism 80B is provided on each of the rails 30Rc and 30Lc (corresponding to an arm portion), and has a handle 20Ra held at a predetermined position Op1 (see FIG. 7) by the restoring force of the holding means Spg1R, Spg2R, Spg1L, and Spg2L. 20La (corresponding to the gripping portion) can be restrained near the predetermined position Op1 in the front-rear direction with respect to the frame 50 (see FIG. 15). The vicinity of the predetermined position Op1 is a marginal movement distance W1 around the predetermined position Op1.

  As shown in FIG. 21, the lock mechanism 80B is different from the lock mechanism 80A in that a lock groove 83B is provided instead of the lock groove 83A. The lock groove 83 </ b> B is provided on the bottom surface of the anchor portion 22 </ b> Bb, has a width of a marginal movement distance W <b> 1 in the front-rear direction, and has a depth into which the tip of the lock pin 81 can be inserted.

  When the user slides the slide switch 84 forward along the switch groove 86 provided in the rail (30Rc, 30Lc), the lock pin 81 moves upward by being guided by the pin guides 82A, 82B. The tip is inserted into the lock groove 83B. Thereby, the handle (20Rb, 20Lb) is restrained in the vicinity of the predetermined position Op1 (see FIG. 7) in the front-back direction with respect to the frame 50.

  When the user slides the slide switch 84 backward along the switch groove 86 provided on the rail (30Rc, 30Lc), the lock pin 81 moves downward by being guided by the pin guides 82A, 82B. The leading end is pulled out from the lock groove 83A. Thus, the handles (20R, 20L) can move freely in the front-back direction with respect to the frame 50.

  Each of the lock mechanisms 80B has a restrained state in which the handles 20Rb and 20Lb (grip portions) are restrained in the vicinity of the predetermined position Op1, and a released state in which the handles 20Rb and 20Lb are released without being restrained in the predetermined position Op1. It can be set to either state. When each of the lock mechanisms 80B is set in the restrained state, the drive control unit 40A (see FIG. 16) controls the front and rear with respect to the frame 50 obtained based on the detection signals from the respective gripper position detection units 34R and 34L. The respective driving means 64R, 64L (see FIG. 16) are controlled based on the position of each handle 20Rb, 20Lb (grip) in the direction.

● [Overall Processing of Progress Control of Drive Control Unit of Walking Support Device in Fourth Embodiment (FIGS. 22 to 29)]
FIG. 22 shows the overall processing in the processing procedure of the drive control means 40A. When the user turns on the main switch 72, the process shown in FIG. 22 is started at predetermined time intervals (for example, at intervals of several [ms]). When the processing illustrated in FIG. 22 is started, the drive control unit 40A proceeds to step SD010. Hereinafter, an example in which the user walks so as to move forward with the walking support device will be described.

  In step SD010, drive control unit 40A executes SB100 (input processing) and proceeds to step SD040. The details of the SB 100 (input processing) will be described later.

  In step SD040, drive control unit 40A executes SB400 (ground speed correction amount calculation process) and proceeds to step SD050. The details of SB400 (ground speed correction amount calculation processing) will be described later.

  In step SD050, drive control unit 40A executes SB500 (center position / velocity correction amount calculation processing) and proceeds to step SD060. The details of SB500 (center position / velocity correction amount calculation processing) will be described later.

  In step SD060, drive control unit 40A executes SB600 (left-right turning correction process) and proceeds to step SD070. The details of SB600 (lateral turning correction processing) will be described later.

  In step SD070, drive control unit 40A executes SB700 (meandering correction process), and proceeds to step SD080. The details of SB700 (meandering correction processing) will be described later.

  In step SD080, drive control unit 40A executes SB800 (advance speed adjustment process) and ends the process (returns). The details of SB800 (advance speed adjustment processing) will be described later.

● [SB100: Details of input processing (FIG. 23)]
Next, the details of SB100 (input processing) will be described using FIG. When executing SB100 in step SD010 shown in FIG. 22, drive control unit 40A advances the process to step SB010 shown in FIG.

  In step SB010, the drive control unit 40A switches the mode stored in the storage unit, the target torque, the right-hand and back position, the right traveling speed, the left-hand forward and backward position, the left traveling speed, and the (right) handle inclination. The direction and the (left) tilt direction of the handle are updated, and the process proceeds to step SB020.

  Specifically, the drive control unit 40A determines whether to switch the mode between “training mode” and “assist mode” based on input information from the assist mode changeover switch 72a and the training mode changeover switch 72b (see FIG. 16). Memorize. Further, the drive control means 40A stores a target torque based on input information from the assist amount adjustment volume 74a (see FIG. 16). The drive control means 40A holds the position (position in the front-back direction of the frame) of the (right) handle 20Rb with respect to the frame 50, which is obtained based on the detection signal from the grip part position detection means 34R (see FIG. 20). It is stored in the hand position. The drive control unit 40A detects the rotation speed of the (right) traveling drive unit 64R based on a detection signal from the (right) traveling speed detection unit 64RE of the (right) traveling drive unit 64R. The traveling speed of the rear wheel 60RR is detected from the rotation speed of the rear wheel 60RR and stored as the right traveling speed (see FIG. 1). Further, the drive control unit 40A determines the front and rear, left and right tilt directions and the tilt amount of the (right) handle 20Rb with respect to the anchor portion 22Bb based on the detection signal from the gripper tilt detection unit 33R of the (right) handle 20Rb. It is detected (right) and stored in the tilt direction of the handle (see FIG. 20). Similarly, the drive control unit 40A stores the front-rear position of the left handle, the left traveling speed, and the inclination direction of the (left) handle.

  In step SB020, drive control unit 40A executes SBA00 (right (left) moving speed, moving direction, and amplitude calculating process), and proceeds to step SB030. The details of SBA00 (right (left) moving speed, moving direction, amplitude calculation processing) will be described later.

  In step SB030, drive control means 40A obtains and stores the traveling speed of the walking assist device based on the right traveling speed and left traveling speed stored in step SB010, and proceeds to step SB050. For example, the drive control unit 40A obtains the traveling speed with the traveling speed = (right traveling speed + left traveling speed) / 2.

  The drive control unit 40A executing the process of step SB030 calculates the traveling speed of the walking support device 10 with respect to the ground based on the detection signal from the traveling speed detection unit.

  In step SB050, drive control means 40A determines whether or not the mode switching is in the assist mode. If the mode is in the assist mode (Yes), the process proceeds to step SB070A. If not (No), the process proceeds to step SB070B. Proceed with the process.

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

  When the process has proceeded to step SB070B, the drive control unit 40A stores the training mode in the operation mode and ends the process (returns).

● [SBA00: Details of right (left) moving speed, moving direction, and amplitude calculation processing (FIG. 24)]
Next, the details of SBA00 (right (left) moving speed, moving direction, and amplitude calculation processing) will be described with reference to FIG. When executing SBA00 in step SB020 shown in FIG. 23, drive control unit 40A advances the process to step SBA05 shown in FIG.

  In step SBA05, the drive control unit 40A determines whether the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SBA10, and if the operation mode is not the training mode. (No) ends the processing (returns).

  When the process has proceeded to step SBA10, the drive control means 40A sets the right hand moving speed to "(right hand front / back position at the current process (right hand front / back position at the present time) -right hand front / back at the previous process). Position (previous right hand front-back position) / time ”is stored, and the process proceeds to step SBA15. The “time” in this case is the time of the interval for activating the processing in FIG. 22 (for example, 10 [ms] when the process is activated at 10 [ms] intervals). In addition, when the right and left hand front and rear positions this time are ahead of the previous right hand and back front and rear positions, the right hand movement speed is “positive”, and the right and left hand front and rear positions this time are more than the previous right hand front and rear positions. When the vehicle is behind, the right hand movement speed is a “negative” speed.

  In step SBA15, the drive control unit 40A determines that the right hand movement speed in the previous process (previous right hand movement speed) = positive (greater than 0) and that the right hand movement speed in the current process (current right hand hold) It is determined whether or not (hand movement speed) = negative (0 or less). Then, the drive control unit 40A advances the process to step SBA25A if satisfied (Yes), and advances the process to step SBA20 if not satisfied (No).

  When the process has proceeded to step SBA25A, the drive control unit 40A stores the current right-hand and back-and-forth position in the right front end position, and proceeds to step SBA30.

  When the process has proceeded to step SBA20, the drive control unit 40A determines that the right hand movement speed in the previous process (previous right hand movement speed) = negative (less than 0) and the right hand movement speed in the current process It is determined whether (current right hand moving speed) = positive (0 or more). Then, the drive control unit 40A advances the process to step SBA25B if satisfied (Yes), and advances the process to step SBB10 if not satisfied (No).

  When the process has proceeded to step SBA25B, the drive control unit 40A stores the current right-hand and back position in the right rear end position, and proceeds to step SBA30.

  When the process has proceeded to step SBA30, the drive control means 40A stores the length obtained from the right front end position-the right rear end position (the right front end position> the right rear end position) in the right amplitude, and proceeds to step SBB10. Advance.

  The processing of steps SBB10 to SBB30 is processing for obtaining the left moving speed, the left front end position, the left rear end position, and the left amplitude of the left handle 20L, and the right moving speed, the right front end position, and the right of the right handle 20R. Steps SBA10 to SBA30 for obtaining the rear end position and right amplitude are the same as those in steps SBA10 to SBA30, and a description thereof will be omitted.

  The drive control means 40A executing the processing of steps SBA10 and SBB10 determines whether each of the handles of the walking support device 10B is based on the respective front and rear positions of the handle (right and left front and rear positions). This corresponds to a handle moving speed calculating unit 40C (see FIG. 13) that calculates each handle moving speed (right hand moving speed and left handle moving speed) that is the moving speed.

● [SB400: Details of ground speed correction amount calculation processing (FIG. 25)]
Next, the details of SB400 (ground speed correction amount calculation processing) will be described with reference to FIG. When executing SB400 in step SD040 shown in FIG. 22, drive control unit 40A advances the process to step SB405 shown in FIG.

  In step SB405, drive control unit 40A determines whether or not the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SB410, and if the operation mode is not the training mode. (No) advances the process to step SB450B.

  In step SB410, the drive control unit 40A obtains “traveling speed + right hand moving speed” and stores it in the right hand ground speed, and calculates “traveling speed + left hand moving speed” to obtain left hand ground speed. And the process proceeds to Step SB420. The “advance speed” is the speed of the walking assist device with respect to the ground, and the “right handle moving speed” is the moving speed of the (right) handle 20Rb with respect to the walking assist device in the front-rear direction of the frame. The “hand-to-ground speed” is the moving speed of the (right) handle 20Rb with respect to the ground in the front-rear direction of the frame. The “right hand movement speed” is set to “positive” speed in the same direction as “progression speed”, and “negative” speed in the opposite direction to “travel direction”. That is, when the traveling speed is a forward speed, the right hand moving speed toward the front is “positive”, and the right hand moving speed toward the rear is “negative”. In addition, the left hand ground speed is similarly obtained.

  The drive control unit 40A executing the process of step SB410 determines, based on the moving speed and the traveling speed of each handle, the respective hand-to-ground speed (right-handed speed) that is the speed of each hand with respect to the ground. Hand-to-ground speed and left-handed ground speed).

  In step SB420, the drive control means 40A determines whether or not the right hand ground speed is negative (less than 0). If it is negative (less than 0) (Yes), the process proceeds to step SB440. If not (No), the process proceeds to step SB430.

  When the process proceeds to step SB430, the drive control unit 40A determines whether or not the ground speed of the left hand is negative (less than 0). If the speed is negative (less than 0) (Yes), the process proceeds to step SB440. The process proceeds, otherwise (No), the process proceeds to step SB450B.

  When the process has proceeded to step SB440, the drive control unit 40A calculates a weight coefficient according to the traveling speed, and proceeds to step SB450A. For example, the weight coefficient is set to decrease as the traveling speed increases.

  In step SB450A, drive control unit 40A stores the value obtained by multiplying the preset acceleration correction amount by the weighting factor in the ground speed correction amount, and ends the process (return). The acceleration correction amount is determined by various experiments and simulations. In this case, the ground speed correction amount is a value larger than 0 (a positive value and a correction amount for accelerating).

  The drive control unit 40A executing the processing of steps SB440 and SB450A determines that when the traveling speed is “positive”, at least one of the ground speeds of the respective hands is “negative” speed Then, a ground speed correction amount for accelerating the walking support device in the direction of the traveling speed is calculated.

  When the process proceeds to step SB450B, the drive control unit 40A stores the preset deceleration correction amount as the ground speed correction amount, and ends the process (returns). The deceleration correction amount is determined by various experiments and simulations. In this case, the ground speed correction amount is a value of 0 or less (a correction amount for deceleration, which is zero or a negative value).

  When the ground speed correction amount is a positive value larger than 0, the traveling speed of the walking support device can be accelerated. In addition, when the ground speed correction amount is a negative value less than 0, the traveling speed of the walking support device can be reduced. When the ground speed correction amount is zero, the walking assist device performs coasting, but the traveling speed is reduced by rolling resistance or the like.

● [SB500: Details of central position / velocity correction amount calculation processing (FIG. 26)]
Next, the details of SB500 (center position / velocity correction amount calculation processing) will be described using FIG. When executing SB500 in step SD050 shown in FIG. 22, drive control unit 40A advances the process to step SB505 shown in FIG.

  In step SB505, the drive control unit 40A determines whether the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SB510, and if the operation mode is not the training mode. (No) advances the process to step SB550.

  If the process has proceeded to step SB510, the drive control means 40A obtains “(right hand front-back position + left hand front-back position) / 2” and stores it in the center position of the handle front and rear, and proceeds to step SB520. .

  The drive control unit 40A executing the process of step SB510 obtains a handle front-rear center position that is the center of each handle front-rear position in the frame front-rear direction.

  FIG. 30 is a view of the walking support device 10B (see FIG. 15) as viewed from above, where (right) the handle front-back position (PmR) of the handle 20Rb, and (left) the handle front-back position (PmL) of the handle 20Lb. ), A virtual front-rear reference position (Ps), a center position (Pmc) in the front-rear direction of the handle, and a center position (Pc) of the movable range (movable range of the handles 20Rb and 20Lb in the frame front-rear direction). For example, in the frame front-back direction, the movable range L1 of the handles 20Rb and 20Lb is from the front end position (Po) of the movable range L1 to the rear end position (Pr) of the movable range. The center position (Pc) is the center position of the movable range L1 in the frame front-back direction. For example, a position that is a predetermined distance La ahead of the center position (Pc) of the movable range L1 is set as a virtual front-back reference position (Ps) that is a predetermined position in the frame front-back direction. The center position in the frame front-rear direction between the right handle front-rear position (PmR) and the left handle front-rear position (PmL) is the handle front-rear center position (Pmc).

  In step SB520, the drive control unit 40A obtains “center position in front and rear of handle−virtual front and rear reference position”, stores the obtained value as the deviation in the front and rear direction, and proceeds to step SB530. As shown in FIG. 20, the longitudinal deviation ΔL is the deviation between the handle's longitudinal center position (Pmc) and the virtual longitudinal reference position (Ps).

  In step SB530, drive control unit 40A obtains the central position / velocity correction amount according to the longitudinal deviation, stores the obtained central position / velocity correction amount, and ends the process (returns). For example, the forward / backward deviation / center position / velocity correction amount characteristic shown in FIG. 31 is stored in the storage unit, and the drive control unit 40A determines the forward / backward deviation / center position / velocity correction amount characteristic based on the forward / backward deviation. Then, the central position / speed correction amount is obtained and stored.

  When the process has proceeded to step SB550, the drive control means 40A obtains "right hand front-back position-handle reference position" and stores it in the right deviation, and proceeds to step SB560. When the operation mode is the “assist mode”, the user is in the “restricted state”, so that the user cannot walk while holding the handle and swinging his arm. In the case of the "assist mode", in the following steps SB550 to SB580, when the handle is pushed forward, the walking assist device 10B is accelerated forward by the central position speed correction. The handle reference position is, for example, a predetermined position Op1 of a predetermined position where the handle is returned by the restoring force, as shown in FIG.

  In step SB560, drive control unit 40A obtains “left hand front-rear position-handhold reference position”, stores the left deviation, and proceeds to step SB570.

  In step SB570, drive control unit 40A obtains “(right deviation + left deviation) / 2” and stores it in the front-rear direction deviation, and proceeds to step SB580.

  In step SB580, drive control unit 40A obtains the central position / speed correction amount according to the longitudinal deviation, stores the obtained central position / speed correction amount, and ends the process (returns). For example, the forward / backward deviation / center position / velocity correction amount characteristic shown in FIG. 31 is stored in the storage unit, and the drive control unit 40A determines the forward / backward deviation / center position / velocity correction amount characteristic based on the forward / backward deviation. Then, the central position / speed correction amount is obtained and stored. Even if the value of the deviation in the front-rear direction is the same, if the central position / speed correction amount in the restrained state (step SB580) is larger than the central position / speed correction amount in the released state (step SB530), preferable.

● [SB600: left-right turning correction process (FIG. 27)]
Next, the details of SB600 (left / right turning correction processing) will be described using FIG. When executing SB600 in step SD060 shown in FIG. 22, drive control unit 40A advances the process to step SUB610 shown in FIG.

  In step SUB610, the drive control means 40 determines whether or not it is satisfied that the (right) handle is not inclined left and right and the (left) handle is not inclined left and right, If it is satisfied (Yes), the process ends (in this case, the process returns to step SD070 in FIG. 22), and if it is not satisfied (No), the process proceeds to step SUB620.

  When the process proceeds to step SUB620, the drive control unit 40A determines whether the (right) handle is inclined to the right and the (left) handle is inclined to the left. If it is satisfied (Yes), the process ends (in this case, the process returns to step SD070 in FIG. 22), and if it is not satisfied (No), the process proceeds to step SUB630. Proceed.

  When the process proceeds to step SUB630, the drive control unit 40A determines whether it is satisfied that the (right) handle is inclined to the left and the (left) handle is inclined to the right. If it is satisfied (Yes), the process ends (in this case, the process returns to step SD070 in FIG. 22), and if it is not satisfied (No), the process proceeds to step SUB640. Proceed.

  When the process proceeds to step SUB640, the drive control unit 40A determines whether or not the (right) handle is inclined to the right. If the (right) handle is inclined to the right (Yes), The process proceeds to step SUB660A, and if not inclined to the right (No), the process proceeds to step SUB650.

  When the process has proceeded to step SUB650, the drive control means 40A determines whether the (left) handle is inclined to the right, and if the (left) handle is inclined to the right (Yes), The process proceeds to step SUB660A, and if not inclined to the right (No), the process proceeds to step SUB660B.

  When the process proceeds to step SUB660A, the drive control unit 40A updates and stores the right turning correction amount and ends the process (in this case, the process returns to step SD070 in FIG. 22).

  When the process has proceeded to step SUB660B, the drive control unit 40A updates and stores the left turning correction amount, and ends the process (in this case, the process returns to step SD070 in FIG. 22).

● [SB700: meandering correction processing (FIG. 28)]
Next, the details of SB700 (meandering correction processing) will be described with reference to FIG. When executing SB700 in step SD070 shown in FIG. 22, drive control unit 40A advances the process to step SUB710 shown in FIG.

  In step SUB710, the drive control means 40A determines whether the position of the (right) handle is forward (greater) than the (right) release position + distance L2, and the (right) handle position is (Right) If it is forward (greater) than the release position + distance L2 (Yes), the process proceeds to step SUB720B; otherwise (No), the process proceeds to step SUB715. The (right) release position is a position where the (right) handle is restored to the vicinity of the center of the rail 30R by the elastic member when the user does not hold the (right) handle. For example, the drive control unit 40A stores a (right) position when the handle is not gripped by the user as a (right) release position. The distance L2 is a distance appropriately set as a dead zone.

  When the process proceeds to step SUB715, the drive control unit 40A determines whether the (right) handle position is behind (smaller) than the (right) release position-distance L2, and If the position of the hand is behind (small) the (right) release position-distance L2 (small) (Yes), the process proceeds to step SUB720A; otherwise (No), the process proceeds to step SUB730.

  When the process has proceeded to step SUB720A, the drive control unit 40A sets the right meandering correction amount to the (correct) meandering correction speed γ21 (+ γ21), stores the new right meandering correction amount, and proceeds to step SUB730. .

  When the process proceeds to step SUB720B, the drive control unit 40A sets the right meandering correction amount to the (negative) meandering correction speed γ21 (−γ21), stores the new right meandering correction amount, and stores the process in step SUB730. Proceed.

  In step SUB730, the drive control unit 40A determines whether the position of the (left) handle is forward (greater) than the (left) release position + the distance L2, and the position of the (left) handle is (Left) If it is forward (greater) than the release position + distance L2 (Yes), the process proceeds to step SUB740B, otherwise (No), the process proceeds to step SUB735. The (left) release position is a position where the (left) handle is restored to the vicinity of the center of the rail 30Lb by the elastic member when the user does not hold the (left) handle. For example, the drive control unit 40A stores a (left) position (predetermined position Op1, see FIG. 7) when the handle is not gripped by the user as a (left) release position. The distance L2 is a distance appropriately set as a dead zone.

  When the process proceeds to step SUB735, the drive control unit 40A determines whether the (left) handle position is behind (small) the (left) release position-distance L2, and If the position of the hand is behind (small) the (left) release position-distance L2 (small) (Yes), the process proceeds to step SUB740A; otherwise (No), the process ends (return in this case). Then, the process proceeds to step SD080 in FIG.

  When the process proceeds to step SUB740A, the drive control unit 40A sets the left meandering correction amount to the (positive) meandering correction speed γ21 (+ γ21), stores the new meandering correction amount as a new left meandering correction amount, and ends the process. In this case, the process returns and proceeds to step SD080 in FIG.

  When the process has proceeded to step SUB740B, the drive control unit 40A sets the left meandering correction amount to the (normal) meandering correction speed γ21 (−γ21), stores the new left meandering correction amount, and ends the process ( In this case, the process returns and proceeds to step SD080 in FIG. 22).

● [SB800: Details of progress speed adjustment processing (FIG. 29)]
Next, the details of SB800 (advance speed adjustment processing) will be described using FIG. When executing SB800 in step SD080 shown in FIG. 22, drive control unit 40A advances the process to step SB810 shown in FIG.

  In step SB810, the drive control unit 40A obtains “advance speed + ground speed correction amount + center position speed correction amount + right turning correction amount + right meandering correction amount”, stores it in the right target speed, and stores “traveling speed + “Ground speed correction amount + center position speed correction amount + left turning correction amount + left meandering correction amount” is obtained and stored in the left target speed, and the process proceeds to step SB820.

  In step SB820, the drive control unit 40A controls the drive unit 64R so that the right target speed and the target torque are obtained (right), and the drive unit 64L is set so that the left target speed and the target torque are obtained (the left). And the process is terminated (return).

  The drive control unit 40A executing the processing in steps SB810 and SB820 determines the traveling speed, the ground speed correction amount, the center position speed correction amount, the right (left) turning correction amount, and the right (left) meandering correction amount. The left and right driving means 64R and 64L for traveling are controlled so as to reach the obtained target speed.

● [Effects of the present application]
As described above, the walking assistance device according to the first embodiment controls the driving unit in accordance with the acting force input to the gripping unit gripped by the user, thereby allowing the user to swing the arm. , And the walking support device can be moved forward with the walking of the user. Therefore, it is possible to further reduce the burden on the user. In addition, the swing width of the arm is not fixed, and the user only has to swing the arm with a natural swing width according to his / her stride. It is possible to appropriately support high-quality natural walking training.

  In addition, the walking support device according to the second embodiment controls the driving unit in accordance with the position of the gripping part (handle) held by the user with respect to the frame, thereby controlling the swing of the user's arm. The walking assist device can be operated and the walking assist device can be moved forward as the user walks. Therefore, it is possible to further reduce the burden on the user. Also, the swing width of the arm is not fixed, and the user only has to swing the arm with a natural swing width according to his / her own stride. It is possible to appropriately support high-quality natural walking training.

  The walking support device of the third embodiment is convenient because it can be used like a walker of a type in which a hand (corresponding to a grip portion) can be restrained with respect to a frame and pushed with both hands without swinging both arms. It is. In addition, in the restrained state, the user can easily drive the walking assist device simply by pushing the handle forward without swinging the arm.

  The walking support device according to the fourth embodiment can be restrained in a predetermined range in the front-rear direction of a handle (corresponding to a gripping portion) frame, and is similar to a walker of a type that is pushed with both hands without swinging both arms. It is convenient to use. In addition, in the restrained state, the user can easily drive the walking assist device simply by pushing the handle forward without swinging the arm.

  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 can be made without changing the gist of the present invention. . Above (≧), below (≦), greater than (>), less than (<) and the like may or may not include an equal sign. The numerical values used in the description of the present embodiment are merely examples, and the present invention is not limited to these numerical values.

  In the description of the present embodiment, an example has been described in which the rails 30R, 30L (see FIG. 1), 30Ra, 30La (see FIG. 9) have shapes that are concavely curved upward. May be a linear shape. Further, an example of the configuration in which the walking support device described in the present embodiment includes a rail and a handle and moves the handle along the rail in the front-rear direction. However, in place of the rail, a handle is provided at the tip of a stock-shaped member provided so as to be swingable on a rotating shaft provided on the frame, and the handle is swung in the front-rear direction with respect to the frame. It may be something that causes it.

  After being activated, the drive control means 40 (see FIG. 5) is actuated by the action force measuring means 25L, 25R (see FIG. 5) of the handles 20R, 20L (see FIG. 1) gripped by the user. Each detected initial pressure (the pressure when the arm is not swung back and forth) may be stored as the gripping force initial value. Then, when the user grips the handlees 20R, 20L and swings the arm back and forth, the drive control means 40 calculates the values from the gripping force initial values at the respective pressures detected by the acting force measuring means 25L, 25R. The increase or decrease may be detected as an acting force (pressing force, pulling force, restoring force, etc.) on the handles 20R, 20L. This makes it possible to more accurately determine whether the user is walking while swinging his arm.

  When the pressure detected by the forward acting force detecting means 25fR, 25fL (see FIG. 3) exceeds a predetermined pressure stored in advance, each of the handles 20R, 20L is moved to the position of each of the rails 30R, 30L. It is determined that the vehicle is at the front end or in the vicinity of the front end, and the driving torque of the rear wheels 60RR, 60RL, which are the driving wheels, is temporarily increased to slightly move the position of the walking assist device 10 (see FIG. 1) forward with respect to the user. May be moved. Similarly, when the pressure detected by the rearward acting force detecting means 25bR, 25bL (see FIG. 3) exceeds a predetermined pressure stored in advance, the handles 20R, 20L are respectively moved to the rails 30R, 30L. Is determined to be at or near the rear end of the vehicle, the driving torque of the rear wheels 60RR, 60RL, which are driving wheels, is temporarily reduced, and the position of the walking assist device 10 with respect to the user is moved slightly rearward. You may make it do.

  Further, the walking support device 10 may be provided with a distance measuring unit such as an ultrasonic sensor to measure the position of the user in the front-back direction of the walking support device 10. Then, the drive control unit 40 may adjust the drive torque of the drive units 64R and 64L such that the position of the user in the front-back direction of the walking assist device 10 is substantially at the center. This makes it possible to more accurately synchronize the walking support device 10 with the walking of the user and to support training of a higher natural walking.

10, 10A, 10B Walking support device 20R, 20L Handle 20Ra, 20La Handle 20Rb, 20Lb Handle 21a Handle shaft 21b Shaft insertion hole 22 Slider 22A Handle holding part 22B Anchor part 22Ba, 22Bb Anchor part 24 Urging means 25R acting force measuring means 25fR forward acting force detecting means 25bR rearward acting force detecting means 25L acting force measuring means 25fL forward acting force detecting means 25bL backward acting force detecting means 26a grip section 26b switch grip section 26ba switch grip Part 27R, 27L Gripping part position detecting means 27a Gripping part position detecting plate 28 Grip biasing means 30R, 30L rail 30Ra, 30La rail 30Rb, 30Lb rail 30Rc, 30Lc rail 33R, 33L Gripping part inclination Skew detecting means 34R, 34L Gripping part position detecting means 36 Signal cable 38 Rail slit part 40, 40A Drive control means 44 Storage means 50 Frame 52 Angular velocity sensor 60FR, 60FL Front wheel 60RR, 60RL Rear wheel 62 Belt 64R, 64L Drive means 64RE, 64LE travel speed detecting means 70 control panel 72 main switch 72a assist mode changeover switch 72b training mode changeover switch 74a assist amount adjustment volume 78 monitor 80A, 80B lock mechanism (gripping section restraining means)
81 Lock pin (grip holding means)
82A, 82B pin guide (gripping portion restraining means)
83A, 83B Lock groove (gripping portion restraining means)
84 Slide switch (grip holding means)
86 Switch groove (grip holding means)
88 biasing means (gripping portion restraining means)
B Battery BKL Brake lever JK Handle support shaft Spg1R Holding means Spg2R Holding means Spg1L Holding means Spg2L Holding means Op1 Predetermined position Op2 position k Amplification coefficient ka Predetermined value (amplification coefficient)
kt Predetermined value (amplification coefficient)
Ferr Predetermined value FRf Front pressure of right hand (rearward acting force)
FLf Front pressure of left handle (rearward acting force)
FRb Back pressure of right handle (forward acting force)
FLb Rear pressure of left handle (frontward acting force)
F Vehicle driving force FR Right vehicle driving force FL Left vehicle driving force TrqF Forward torque TrqR Drive torque TrqL Drive torque HPR position (right grip front-rear position)
HPL position (left grip front and back position)
STD_P position (reference position (predetermined position))
SPR, SPL position (user front and rear position)
UR, UL Target travel speed PB, PF Pulley W wire WA wire connection WH wire hole Pmc Handle center front / rear position PmL, PmR Handle front / back position Ps Virtual front / rear reference position W1 Extra travel distance 110 Walking vehicle 120 Handle 122 Slider 130 Side Frame 140 Main frame 132 Connecting rod 160F Front wheel 160B Rear wheel 210 Walking assistance device 220R, 220L Handle 234R, 234L Force detector 240 Control means 250 Moving body 260R Follower wheel 200B Power supply

Claims (11)

Frame and
A pair of left and right arms provided on the frame,
A pair of left and right grips provided on the pair of left and right arms, which can be gripped by a user and movable in the front-rear direction with respect to the frame;
A plurality of wheels including a pair of left and right drive wheels provided at the lower end of the frame,
Driving means for driving each of the driving wheels to advance the walking assistance device,
A battery serving as a power source for each of the driving means;
Drive control means for controlling each of the drive means,
Each acting force measuring means for measuring the acting force on each of the grip portions,
Holding means for holding the respective gripping portions at respective preset predetermined positions with respect to the frame,
A walking support device that moves forward with a user who walks while gripping each of the grips and swinging his arm,
Each of the holding means generates a restoring force for returning the grip portion shifted from the predetermined position to the predetermined position by swinging the arm of the user,
The drive control means includes:
Controlling each of the driving means based on the respective acting force obtained based on the detection signal from each of the acting force measuring means,
Walking support device. The walking support device according to claim 1,
Each of the acting force measuring means is:
Forward acting force detecting means for detecting a forward acting force, which is a forward acting force inputted to the corresponding grip portion,
A rearward acting force detecting means for detecting a rearward acting force that is a backward acting force input to the corresponding grip portion,
The drive control means includes:
A gripping portion acting force which is the acting force based on a difference between the forward acting force detected by using the forward acting force detecting means and the rearward acting force detected by using the rearward acting force detecting means. Controlling each of the driving means based on
Walking support device. The walking support device according to claim 2,
The drive control means includes:
The magnitude of the right gripper acting force that is the gripper acting force input to the right gripper, and the magnitude of the left gripper acting force that is the gripper acting force input to the left gripper, Based on the difference between, determine whether the user is walking while swinging his arm, based on the determination result, to control each of the driving means,
Walking support device. The walking support device according to claim 3,
The drive control means includes:
If the determination result is that the user is walking while swinging his arm, the respective driving unit is configured to reduce the meandering of the walking support device that occurs with the arm swing walking operation of the user. Control,
Walking support device. Frame and
A pair of left and right arms provided on the frame,
A pair of left and right grips provided on the pair of left and right arms, which can be gripped by a user and movable in the front-rear direction with respect to the frame;
A plurality of wheels including a pair of left and right drive wheels provided at the lower end of the frame,
Driving means for driving each of the driving wheels to advance the walking assistance device,
A battery serving as a power source for each of the driving means;
Drive control means for controlling each of the drive means,
Each grip part position detecting means for detecting the position of each grip part with respect to the frame,
Holding means for holding the respective gripping portions at respective preset predetermined positions with respect to the frame,
A walking support device that moves forward with a user who walks while gripping each of the grips and swinging his arm,
Each of the holding means generates a restoring force for returning the grip portion displaced from the predetermined position to the predetermined position by swinging the arm of the user,
The drive control means includes:
Controlling each of the driving means based on the position of each of the gripping parts obtained based on the detection signal from each of the gripping part position detecting means,
Walking support device. The walking support device according to claim 5,
The drive control means includes:
The right gripper front-rear position, which is the position of the right gripper in the front-rear direction with respect to the frame, and the position of the left gripper in the front-rear direction with respect to the frame, obtained using the respective gripper position detectors. Based on a certain left grip portion front-back position, based on the user to determine the user front-back position that is the position of the user in the front-back direction with respect to the frame,
Controlling each of the driving means so that the user's front-rear position approaches a predetermined position in the front-rear direction with respect to the frame,
Walking support device. The walking support device according to claim 6,
The drive control means includes:
Based on the right grip front-rear position and the left grip front-rear position, determine whether the user is walking while swinging his arm,
If it is determined that the user is walking while swinging his arm, the control amount of each of the driving units is corrected so as to reduce the meandering of the walking support device that occurs with the user's arm swing walking operation. Do
Walking support device. The walking support device according to any one of claims 1 to 4,
In each of the arms,
Each grip part restraining means is provided, which enables the grip part held at the predetermined position by the restoring force of the holding means to be restrained at the predetermined position in the front-rear direction with respect to the frame.
Walking support device. The walking support device according to claim 8,
Each of the gripping part restraining means,
It is possible to set any one of a restrained state in which the gripper is restrained at the predetermined position, and a released state in which the gripper is released without restraining the gripper in the predetermined position,
The drive control means includes:
When each of the grip portion restraining means is set to the restrained state,
Controlling each of the driving means based on the respective acting force obtained based on the detection signal from each of the acting force measuring means,
Walking support device. The walking support device according to any one of claims 5 to 7,
In each of the arms,
Each grip part restraining means is provided, which enables the grip part held at the predetermined position by the restoring force of the holding means to be restrained in the vicinity of the predetermined position in the front-rear direction with respect to the frame. Yes,
Walking support device. The walking support device according to claim 10,
Each of the gripping part restraining means,
It is possible to set any one of a restrained state in which the gripper is restrained in the vicinity of the predetermined position and a released state in which the gripper is released without being restrained in the vicinity of the predetermined position,
The drive control means includes:
When each of the grip portion restraining means is set to the restrained state,
Based on the detection signal from each of the gripping part position detecting means, based on the position of each of the gripping parts in the front and rear direction with respect to the frame, to control each of the driving means,
Walking support device.