JP2021016586A - Walking support apparatus - Google Patents

Abstract

To provide a walking support apparatus capable of providing walking training by being used and of improving walking ability.SOLUTION: A walking support apparatus includes: a frame 50; a plurality of wheels including driving wheels 60RL, 60RR provided for the frame 50; travel driving devices 64L, 64R driving the driving wheels 60RL, 60RR; a travel controller 40 controlling the travel driving devices 64L, 64R; a walking state acquisition device acquiring walking state information about a walking state of a user for a prescribed time; a target walking state setting device setting a target walking state where the user's walking state is improved on the basis of the walking state information acquired by the walking state acquisition device; and a teaching controller performing control so as to instruct the target walking state to the user. The travel controller 40 is configured to control the travel driving devices 64L, 64R on the basis of the target walking state.SELECTED DRAWING: Figure 1

Description

The present invention relates to a walking support device.

Various techniques related to walking support devices for supporting walking of elderly people and the like have been proposed. For example, in the walking assist vehicle described in Patent Document 1 below, a substrate that supports the user, a drive unit that moves the substrate, a distance detection unit that detects the distance used from the substrate to the user, and a substrate by the user. It is provided with an acting force detecting unit that detects the acting force acting on the vehicle, and a movement control unit that controls the driving unit based on the working distance or the acting force. When the used distance is larger than a predetermined distance threshold value, the movement control unit performs fall prevention control in which a braking force is applied to the drive unit to decelerate the substrate. Further, the movement control unit is configured to perform return assist control for retracting the substrate when the acting force is equal to or higher than a predetermined bearing capacity threshold value even after a certain period of time.

As a result, if the walking assist vehicle tries to go ahead of the user by a certain distance or more, the fall prevention brake is applied, so that the user can be prevented from falling and safety can be ensured. In addition, if an elderly person with weak legs is in a forward leaning posture with his / her weight on the clip and cannot return by himself / herself, a certain amount of acting force is applied to the grip and that state continues for a certain period of time. The safety of the user can be improved by assisting the user to regain his / her posture by moving backward.

Japanese Unexamined Patent Publication No. 2016-63980

However, in the walking assistance vehicle described in Patent Document 1, although the distance used from the base to the user is detected, the position of the leg of the user is not detected, and the walking state can be estimated. It cannot be improved. Therefore, the user can walk comfortably with the walking assistance vehicle, but there is a problem that the walking ability gradually decreases because there is no function of training the walking by using the walking assistance vehicle and improving the walking ability. ..

Therefore, the present invention has been devised in view of these points, and an object of the present invention is to provide a walking support device capable of performing walking training and improving walking ability by using the present invention. To do.

In order to solve the above problems, the first invention of the present invention includes a frame, a plurality of wheels including at least one drive wheel provided on the frame, a traveling drive device for driving the drive wheels, and the like. Based on the running control device that controls the running drive device, the walking state acquisition device that acquires the walking state information regarding the walking state of the user for a predetermined time, and the walking state information acquired by the walking state acquisition device. The travel control device includes a target walking state setting device for setting a target walking state in which the walking state of the user is improved, and a teaching control device for controlling the target walking state to be taught to the user. , A walking support device that controls the traveling drive device based on the target walking state.

Next, the second invention of the present invention includes the walking support device according to the first invention, which includes a notification device for notifying the user of the walking timing, and the walking state information includes a walking cycle. The target walking state includes a target walking cycle set based on the walking cycle, and the teaching control device controls to teach the walking timing based on the target walking cycle via the notification device. It is a walking support device.

Next, in the third invention of the present invention, in the walking support device according to the second invention, the teaching control device has a periodic sound setting unit that sets a periodic sound based on the target walking cycle. It is a walking support device that controls the periodic sound set by the periodic sound setting unit so as to notify the user via the notification device.

Next, the fourth invention of the present invention includes a teaching walking mode for teaching the target walking state to the user in the walking support device according to any one of the first to third inventions. The walking state acquisition device is provided with a switching setting device for switching between a normal walking mode in which the target walking state is not set and a normal walking mode in which the target walking state is not set, and after the switching setting device switches to the teaching walking mode, the walking state acquisition device is used for the predetermined time or a predetermined time. It is a walking support device that acquires the walking state information regarding the walking state of a user who has walked for a moving distance or a predetermined walking cycle.

Next, the fifth invention of the present invention is the frame front-rear direction which is the front-back direction with respect to the frame while being held by the user in the walking support device according to any one of the first to fourth inventions. The walking state acquisition device includes a pair of left and right handles that can be moved to and a handle state detection device that detects the state of each of the handles, and the walking state acquisition device is a handle state detection device. The target walking state setting device has a walking cycle acquisition unit that acquires the walking cycle of the user based on each of the holding states detected based on the detection signal from, and the target walking state setting device is the target walking based on the walking cycle. A target walking cycle to be taught to the user is set as a state, the teaching control device controls to teach the target walking cycle to the user, and the traveling control device controls the traveling based on the target walking cycle. It is a walking support device that controls the drive device.

Next, in the sixth aspect of the present invention, in the walking support device according to the fifth aspect, the pair of left and right shafts fixed to the respective handles and extending in the front-rear direction of the frame and the front-rear direction of the frame Each of the shafts is provided with a pair of left and right tubular portions that extend and accommodate the respective shafts so as to be movable in the front-rear direction of the frame and are attached to the frame, and each of the shafts accommodates itself. A shaft reference position, which is a reference position in the front-rear direction of the frame with respect to the tubular portion, is set, and the handle state detection device repeats the shaft to the shaft reference position, the front end position, or the rear end position. The walking cycle acquisition unit is a walking support device that detects the arrival time and acquires the walking cycle of the user based on the repeated arrival time.

Next, a seventh invention of the present invention includes a traveling speed detecting device for detecting the traveling speed of the driving wheels in the walking support device according to the sixth invention, and each of the tubular portions has the shaft. A locked state in which the shaft is held in the front-rear regulation range in the front-rear direction of the frame so as to be close to the reference position, and the movement of the shaft in the front-rear direction of the frame beyond the front-rear regulation range in the front-rear direction of the frame. The walking cycle acquisition unit is detected by the traveling speed detection device when it has a locking mechanism that can be switched between a permissible release state and each of the locking mechanisms is set to switch to the locked state. This is a walking support device that acquires the walking cycle of the user based on the periodic speed change of the traveling speed of the driving wheels.

Next, the eighth invention of the present invention includes a walking speed detecting device for detecting the traveling speed of the driving wheels in the walking support device according to any one of the first to fourth inventions. The walking state acquisition device has a walking cycle acquisition unit that acquires the walking cycle of the user based on the periodic speed change of the traveling speed of the driving wheels detected by the traveling speed detecting device, and the target walking. The state setting device sets a target walking cycle to be taught to the user as the target walking state based on the walking cycle, and the teaching control device controls to teach the target walking cycle to the user. The travel control device is a walking support device that controls the travel drive device based on the target walking cycle.

Next, a ninth aspect of the present invention is the walking support device according to any one of the second to eighth inventions, wherein the target walking state setting device sets the target walking cycle to the walking cycle. The traveling control device controls the traveling speed of the driving wheels to be faster than the traveling speed corresponding to the walking cycle by a predetermined second ratio. , A walking support device.

Next, the tenth invention of the present invention is the walking support device according to any one of the second to eighth inventions, wherein the target walking state setting device sets the target walking cycle to the walking cycle. The travel control device is a walking support device that controls the traveling speed of the driving wheels to be faster than the traveling speed corresponding to the walking cycle by a predetermined second ratio. is there.

Next, according to the eleventh invention of the present invention, in the walking support device according to any one of the second to eighth inventions, the target walking state setting device sets the target walking cycle to the walking cycle. The travel control device is a walking support device that is set to be longer than a predetermined third ratio, and controls the traveling speed of the driving wheels to be the same as the traveling speed corresponding to the walking cycle. is there.

Next, the twelfth invention of the present invention is a target teaching run in which the walking support device according to any one of the first to eleventh inventions described above teaches the user the target walking state and runs. The target teaching mileage storage device that stores the distance in advance, the mileage detection device that teaches the user the target walking state to detect the mileage traveled, and the mileage detected by the mileage detection device are described above. A mileage determination device for determining whether or not the target teaching mileage has been reached is provided, and the mileage detected by the mileage determination device by the mileage determination device has reached the target teaching mileage. When it is determined, the travel control device is a walking support device that controls the travel drive device to stop.

Next, the thirteenth invention of the present invention describes the walking state of the user while the target walking state is taught to the user by the teaching control device in the walking support device according to the twelfth invention. The teaching walking state acquisition device to be acquired, the walking state evaluation device for comparing and evaluating the walking state of the user acquired by the teaching walking state acquisition device and the target walking state, and the evaluation by the walking state evaluation device. It is a walking support device including an output device that outputs a result.

Next, in the 14th invention of the present invention, in the walking support device according to the 13th invention, the walking state of the user acquired by the teaching walking state acquisition device includes a walking cycle, and the target walking. The state includes a target walking cycle, and the walking state evaluation device relates to the degree of coincidence of the walking cycle with the target walking cycle, the number of achievements in which the degree of coincidence is equal to or greater than a predetermined value, or the total number of evaluations of the number of achievements. It is a walking support device that evaluates based on the achievement rate.

Next, in the fifteenth invention of the present invention, in the walking support device according to any one of the first to fourteenth inventions, the walking state information acquired by the walking state acquisition device is obtained in time series. The walking state information storage device is provided, and the target walking state setting device sets the target walking state based on the walking state information stored in the walking state information storage device in time series. It is a device.

According to the first invention, a target walking state in which the walking state is improved is set from the walking state information regarding the walking state for a predetermined time of the user, and is taught to the user. In addition, the walking support device is controlled to travel based on the target walking state. As a result, the user can perform walking training in which the walking state is improved by walking according to the target walking state to be taught by using the walking support device, and can improve the walking ability.

According to the second invention, the walking timing is taught via the notification device based on the target walking cycle in which the walking cycle of the user is improved. As a result, the user can perform walking training in which the walking cycle is improved by walking according to the taught walking timing by using the walking support device, and the walking ability can be improved. In addition, the user can easily take the timing of walking by walking according to the timing of walking taught, and can easily perform walking training in which the walking state is improved.

According to the third invention, a periodic sound set based on the target walking cycle (for example, a tempo sound of a metronome having a fixed cycle, a rhythm sound of a musical instrument, a shout, etc.) is taught to the user via a notification device. To. As a result, the user can easily take the timing of walking according to the target walking cycle by walking according to the taught periodic sound, and can effectively perform walking training in which the walking state is improved.

According to the fourth invention, the walking state information regarding the walking state of the user who walked for a predetermined time, a predetermined moving distance, or a predetermined walking cycle after being switched to the teaching walking mode by the switching setting device is acquired. To. Thereby, the user can start the walking training by using the walking support device at a desired timing by switching to the teaching walking mode by the switching device.

According to the fifth invention, when the user holds a pair of left and right handles and walks while swinging the arm together with the handles, the walking cycle of the user is acquired based on the arm swing state (handle state). To. Then, a target walking cycle for improving the walking cycle is set and taught to the user. Further, the driving drive device for traveling is driven and controlled based on the target walking cycle. As a result, the user can improve the walking state by using the walking support device that is driven and controlled based on the target walking cycle and walking while waving the arm correctly in synchronization with the taught target walking cycle. Walking training can be performed and walking ability can be improved. Therefore, it is possible to support high-quality walking training in which the user walks while waving his / her arms correctly.

According to the sixth invention, the repeated arrival time of the shaft to the shaft reference position, the front end position or the rear end position is detected, and the walking cycle of the user is acquired based on the repeated arrival time. As a result, when the user holds a pair of left and right handles and walks while swinging his / her arms together with the handles, the walking cycle of walking in the arm swing state (handle state) can be accurately detected. High-quality walking training that improves walking conditions can be performed.

According to the seventh invention, when the pair of lock mechanisms are switched to the locked state and the pair of shafts are held in the front-rear regulation range in the front-rear direction of the frame so as to be close to the shaft reference position, the drive is driven. The walking cycle of the user is acquired based on the periodic speed change of the traveling speed of the wheel. Then, a target walking cycle for improving the walking cycle is set and taught to the user. Further, the driving drive device for traveling is driven and controlled based on the target walking cycle. As a result, the user is taught walking in a mode (hand push mode) in which a pair of locked left and right handles are grasped and pushed by using a walking support device that is driven and controlled based on a target walking cycle. By walking according to the timing, walking training that improves the walking state can be performed, and walking ability can be improved.

According to the eighth invention, the walking cycle of the user is acquired based on the periodic speed change of the traveling speed of the driving wheels. Then, a target walking cycle for improving the walking cycle is set and taught to the user. Further, the driving drive device for traveling is driven and controlled based on the target walking cycle. As a result, the user improves the walking state by using the walking support device that is driven and controlled based on the target walking cycle and walking by synchronizing the walking timing with the taught target walking cycle. Walking training can be performed and walking ability can be improved.

According to the ninth invention, the target walking cycle is set to be shorter than the walking cycle by a predetermined first ratio, and the traveling speed of the drive wheels is set by a predetermined second ratio than the traveling speed corresponding to the walking cycle. Get faster. As a result, the user walks according to the taught walking timing by using the walking support device, so that the walking cycle is shortened by a predetermined first ratio and the walking speed is increased by a predetermined second ratio. Therefore, the walking rate [steps / minute] and the stride length [cm] increase. That is, the user can perform walking training that increases the walking speed [m / min] by walking according to the taught walking timing using the walking support device, and can improve the walking ability. it can.

According to the tenth invention, the target walking cycle is set to be the same as the walking cycle, and the traveling speed of the drive wheels is made faster by a predetermined second ratio than the traveling speed corresponding to the walking cycle. As a result, the user walks according to the taught walking timing using the walking support device, so that the walking speed is increased by a predetermined second ratio in the same walking cycle, so that the walking rate [walking / walking / Minutes] remain the same, and stride length [cm] increases. That is, the user can perform walking training in which the stride length [cm] is slightly widened and the walking speed [m / min] is increased by walking according to the taught walking timing using the walking support device. It can improve walking ability.

According to the eleventh invention, the target walking cycle is set to be longer than the walking cycle by a predetermined third ratio, and the traveling speed of the drive wheels is set to be the same as the traveling speed corresponding to the walking cycle. As a result, the user walks according to the taught walking timing using the walking support device, so that the walking cycle is lengthened by a predetermined third ratio and the walking speed [m / min] is the same. Therefore, the walking rate [steps / minute] decreases a little, but the stride length [cm] becomes a little wider. That is, the user can perform walking training in which the stride length [cm] is slightly widened by walking according to the taught walking timing by using the walking support device, and can improve the walking ability.

According to the twelfth invention, when it is determined that the mileage detected by the mileage detection device has reached the target teaching mileage stored in advance, the mileage drive device is stopped and walking. The support device stops. As a result, the user can easily determine that the distance for which the walking training has been performed using the walking support device has reached the target teaching mileage, and easily determines whether or not to continue the walking training. can do. In addition, since the walking support device is stopped, the user can easily reexamine the content of the walking training.

According to the thirteenth invention, the user can obtain an evaluation result comparing the walking state during the walking training and the target walking state in which the user walks according to the taught walking timing by using the walking support device. It will be possible. This enables the user to objectively evaluate walking training.

According to the fourteenth invention, the walking state evaluation device is based on the degree of agreement of the walking cycle with respect to the target walking cycle, the number of achievements in which the degree of agreement is equal to or more than a predetermined value, or the achievement rate with respect to the total number of evaluations of the achievement times. evaluate. As a result, the user can quickly obtain an evaluation of walking training and easily perform it.

According to the fifteenth invention, the target walking state setting device sets the target walking state based on the walking state information stored in the walking state information storage device in time series. This makes it possible to optimize the target walking state by using the past walking state information.

It is a perspective view explaining the appearance of a walking support device. It is a figure explaining the open state before folding a frame in the left-right direction. It is a figure explaining the state which the frame is folded in the left-right direction. It is a perspective view explaining an example of the appearance and structure of a tubular part, a shaft, and a handle. FIG. 4 is a view of the tubular portion viewed from the V direction. It is a figure explaining the example of the structure of the lock mechanism, and is the figure explaining the example when the shaft is released. It is a figure explaining the example of the structure of the lock mechanism, and is the figure explaining the example when the shaft is locked. It is a figure explaining the state which the shaft is locked, and the shaft is returned (held) to the shaft reference position. It is a figure explaining the state which the shaft is in the locked state, and the shaft and the handle are pushed by the user forward from the shaft reference position within the front-rear regulation range. It is a figure explaining the state which the shaft is in the locked state, and the shaft and the handle are pulled by the user to the rear than the shaft reference position within the front-rear regulation range. It is a figure explaining the state which the shaft is in the released state, and the shaft and the handle are pulled by the user to the rear beyond the front-rear regulation range and more than the shaft reference. It is a figure explaining the example of the appearance of the operation panel. It is a block diagram explaining the input / output of the control device of a walking support device. It is a flowchart explaining the processing procedure (overall processing) of the control device of a walking support device. It is a flowchart explaining the processing procedure of the input processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the right (left) movement speed, movement direction, and amplitude calculation processing in the input processing shown in FIG. It is a flowchart explaining the processing procedure of the walking cycle acquisition processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the ground speed correction amount calculation processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the central position speed correction amount calculation processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the progress speed adjustment processing in the whole processing shown in FIG. It is a flowchart explaining the processing procedure of the rhythm sound generation processing in the whole processing shown in FIG. It is a figure which shows an example of the traveling speed in a hand-push mode. It is a top view of the walking support device, and is the figure explaining the front-back position of a handle, the front-back center position of a handle, the virtual front-back reference position and the like. It is a figure explaining the example of the anteroposterior direction deviation, the center position velocity correction amount characteristic. It is a figure explaining the example of the user who holds a handle and walks while swinging an arm back and forth, and the position of a walking support device and a handle.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. When the X-axis, Y-axis, and Z-axis are described in the figure, the axes are orthogonal to each other. The X-axis direction indicates a direction toward the front when viewed from the walking support device 10, the Y-axis direction indicates a direction toward the left when viewed from the walking support device 10, and the Z-axis direction indicates a direction when viewed from the walking support device 10. It shows the direction going vertically upward. Hereinafter, with respect to the walking support device 10, the X-axis direction is "front", the direction opposite to the X-axis direction is "rear", the Y-axis direction is "left", and the direction opposite to the Y-axis direction is "rear". “Right”, the Z-axis direction is “up”, and the direction opposite to the Z-axis direction is “down”. Hereinafter, the front-back direction of the frame will be referred to as "frame front-back direction".

● [Outline overall configuration of walking support device 10 (FIGS. 1 to 3)]
The outline overall configuration of the walking support device 10 will be described with reference to FIG. The walking support device 10 includes a frame 50, front wheels 60FL and 60FR, rear wheels 60RL and 60RR, traveling drive devices 64L and 64R, a battery B, a control device 40, handles 20L and 20R, and a shaft 21L. , 21R, tubular portions 30L, 30R, bag 50K and the like.

The frame 50 includes tubular portion supports 51L and 51R extending in the vertical direction to support the tubular portions 30L and 30R, and wheel supports 52L extending in the front-rear direction of the frame to support the wheels, which is the front-rear direction with respect to the frame 50. It has 52R and the like. The wheel support 52L is fixed below the tubular support 51L, and the wheel support 52R is fixed below the tubular support 51R. Further, FIG. 2 shows a state in which the frame 50 is opened in the left-right direction, and FIG. 3 shows a state in which the frame 50 is folded in the left-right direction. The bag 50K is omitted in FIGS. 2 and 3. As shown in FIGS. 2 and 3, the tubular portion support 51L and the tubular portion support 51R are connected by link members 54L, 54R, 55L, 55R. Then, as shown in FIGS. 2 and 3, when the walking support device 10 is not in use, it is convenient because the occupied space can be reduced by folding it as shown in FIG.

Further, the walking support device 10 can be easily changed from the state shown in FIG. 3 folded to the left and right to the state shown in FIG. 2 opened to the left and right. Further, an elastically deformable connecting body 53 is provided on the upper side of the tubular portion support 51L and the tubular portion support 51R. The user enters between the tubular portion 30L and the tubular portion 30R from the open side (rear) of the frame 50, grips the handle 20L and the handle 20R with his / her left and right hands, and walk support device 10 To operate. Alternatively, the user can operate the walking support device 10 by grasping the grips 18L and 18R provided so as to project upward from the front ends of the handles 20L and 20R with his left and right hands.

A tubular portion 30L is held at the upper end of the tubular portion support 51L, and a wheel support 52L is fixed to the lower side of the tubular portion support 51L. The tubular portion support 51L can be expanded and contracted in the vertical direction, and the height of the tubular portion 30L can be adjusted according to the height of the user's hand walking while swinging his arm. .. Further, a front wheel 60FL, which is a swivel caster wheel, is provided on the front side of the wheel support 52L, and after being driven by a traveling drive device 64L on the rear side of the wheel support 52L. A wheel 60RL is provided.

The same applies to the tubular portion support 51R, the tubular portion 30R, the wheel support 52R, the front wheel 60FR, the traveling drive device 64R, and the rear wheel 60RR, and thus the description thereof will be omitted. As described above, the frame 50 is provided with a plurality of wheels (front wheels 60FL, 60FR, rear wheels 60RL, 60RR), and at least one wheel (in this case, rear wheel 60RL, rear wheel 60RR) is a driving wheel. Is.

The traveling drive device 64L is, for example, an electric motor that rotationally drives the rear wheels 60RL based on a control signal from the control device 40 based on the electric power supplied from the battery B. Similarly, the traveling drive device 64R is, for example, an electric motor that rotationally drives the rear wheels 60RR based on a control signal from the control device 40 based on the electric power supplied from the battery B.

Further, the traveling drive device 64L is provided with a traveling speed detection device 64LE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling drive device 64L to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (the traveling speed by the rear wheel 60RL) based on the detection signal from the traveling speed detecting device 64LE. Similarly, the traveling drive device 64R is provided with a traveling speed detection device 64RE such as an encoder, and outputs a detection signal corresponding to the rotation of the traveling drive device 64R to the control device 40. The control device 40 can detect the traveling speed of the walking support device 10 with respect to the ground (the traveling speed by the rear wheel 60RR) based on the detection signal from the traveling speed detecting device 64RE.

The tubular portion 30L has a tubular shape extending in the front-rear direction of the frame, and accommodates the shaft 21L extending in the front-rear direction of the frame so as to be movable in the front-rear direction of the frame. Similarly, the tubular portion 30R has a tubular shape extending in the front-rear direction of the frame, and accommodates the shaft 21R extending in the front-rear direction of the frame so as to be movable in the front-rear direction of the frame. The tubular portion 30L and the tubular portion 30R are provided in pairs on the left and right.

The shaft 21R has a tubular shape extending in the front-rear direction of the frame, and at least a part of the shaft 21R is hollow (see FIG. 4), and is housed in the tubular portion 30R so as to be movable in the front-rear direction of the frame. .. A handle 20R is fixed to the rear end of the shaft 21R. Similarly, the shaft 21L has a tubular shape extending in the front-rear direction of the frame, is at least partially hollow, is housed in the tubular portion 30L, and is movable in the front-rear direction of the frame. A handle 20L is fixed to the rear end of the shaft 21L. The shaft 21L and the shaft 21R are provided in pairs on the left and right.

The handle 20L is a place where the user grips with the left hand, is fixed to the rear end of the shaft 21L, and is attached to the tubular portion 30L (that is, the frame) in accordance with the swing of the left arm accompanying the walking of the user. It is possible to move in the front-rear direction of the frame together with the shaft 21L (relative to 50). The handle 20L is provided with a brake lever BKL that decelerates the rotation of the rear wheel 60RL. Further, at the front end portion of the handle 20L, a grip 18L projects upward so that the user can grip it with his / her left hand.

Similarly, the handle 20R is a place where the user grips with the right hand, is fixed to the rear end portion of the shaft 21R, and is fixed to the tubular portion 30R in accordance with the swing of the right arm accompanying the walking of the user ( That is, it is possible to move in the front-rear direction of the frame together with the shaft 21R (relative to the frame 50). The handle 20R is provided with a brake lever BKL that decelerates the rotation of the rear wheel 60RR. Further, at the front end of the handle 20R, the grip 18R projects upward so that the user can grip it with his / her right hand. The handle 20L and the handle 20R are provided in pairs on the left and right.

A handle state detecting device 21LS capable of detecting the state of the handle 20L is provided in the tubular portion 30L. For example, the handle state detection device 21LS is an encoder, which rotates according to the movement of the shaft 21L in the front-rear direction of the frame, and the position of the shaft 21L in the front-rear direction of the frame in the tubular portion 30L (that is, the front-back of the frame of the handle 20L). A detection signal corresponding to the position in the direction is output to the control device 40. Based on the detection signal from the handle state detection device 21LS, the control device 40 obtains the (left) handle front-rear position, which is the position of the handle 20L (relative to the tubular portion 30L) in the frame front-rear direction with respect to the frame 50. Can be done.

Similarly, a handle state detecting device 21RS capable of detecting the state of the handle 20R is provided in the tubular portion 30R. For example, the handle state detection device 21RS is an encoder, which rotates according to the movement of the shaft 21R in the front-rear direction of the frame, and the position of the shaft 21R in the front-rear direction of the frame in the tubular portion 30R (that is, the front and back of the frame of the handle 20R). A detection signal corresponding to the position in the direction is output to the control device 40. The control device 40 obtains the (right) handle front-rear position, which is the position of the handle 20R (relative to the tubular portion 30R) in the frame front-rear direction with respect to the frame 50, based on the detection signal from the handle state detection device 21RS. Can be done.

Further, the tubular portion 30R (30L) is provided with a lock operation portion 31R (31L) operated by the user. The lock operation unit 31R (31L) sets the shaft 21R (21L) and the handle 20R (20L), which are movable in the front-rear direction of the frame, to either a “locked state” or a “released state”. In the "locked state", the movement range of the shaft 21R (21L) and the handle 20R (20L) in the front-rear direction of the frame is restricted within the front-rear regulation range W1 (see FIGS. 8 to 10) near the shaft reference position. .. In the "released state", the moving range of the shaft 21R (21L) and the handle 20R (20L) is allowed to exceed the front-rear regulation range W1 (see FIG. 11).

The operation panel 70 is provided, for example, on the upper surface of the tubular portion 30R, and as shown in FIG. 12, the main switch 72, the battery remaining amount display unit 73, the arm swing mode indicator 74, the hand push mode indicator 75, It has a drive torque adjusting unit 76, a walking mode indicating unit 77 composed of the selection buttons 77A to 77D, and the like. The details of the operation panel 70 will be described later.

The 3-axis acceleration / angular velocity sensor 50S is provided on the frame 50, measures acceleration with respect to each of the three directions of the X-axis, Y-axis, and Z-axis, and is centered on each of the three directions. The angular velocity of the rotation is measured, and a detection signal based on the measurement result is output to the control device 40. For example, the 3-axis acceleration / angular velocity sensor 50S controls a detection signal according to the inclination angle of the walking support device 10 with respect to each of the X-axis, Y-axis, and Z-axis when the walking support device 10 is traveling on an inclined surface. Output to device 40.

Further, for example, the 3-axis acceleration / angular velocity sensor 50S detects the acceleration applied to the vehicle body of the walking support device 10 (for example, the impact on the vehicle body), and outputs a detection signal corresponding to the detected acceleration to the control device 40. To do. Further, for example, the 3-axis acceleration / angular velocity sensor 50S determines the pitch angular velocity (angular velocity around the Y-axis), yaw angular velocity (angular velocity around the Z-axis), and roll angular velocity (angular velocity around the X-axis) of the vehicle body of the walking support device 10. It is detected, and a detection signal corresponding to the detected angular velocity is output to the control device 40. Based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S, the control device 40 has an inclination angle, acceleration (impact) magnitude, pitch angular velocity, respectively, of the walking support device 10 with respect to the X-axis, Y-axis, and Z-axis. Yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of tubular portion 30R and shaft 21R (FIGS. 4 and 5)]
Next, the detailed structure of the tubular portion and the shaft will be described with reference to FIG. Since the tubular portion and the shaft (and the handle) are paired on the left and right, the tubular portion 30R, the shaft 21R, the lid portion 34R, and the handle 20R on the right side will be described as an example, and the tubular portion 30L on the left side, The description of the shaft 21L, the lid portion, and the handle 20L (see FIG. 1) will be omitted. FIG. 4 shows a perspective view of the tubular portion 30R, the shaft 21R, the lid portion 34R, and the handle 20R, and FIG. 5 is a view of the tubular portion 30R seen from the V direction in FIG. In addition, in FIGS. 4 and 5, the description of the lock mechanism (see FIGS. 6 and 7) interlocked with the lock operation unit 31R is omitted.

The tubular portion 30R has a tubular shape extending in the front-rear direction of the frame, and is provided with a guide rail 32R, a guide roller 33R, a handle state detecting device 21RS, an elastic unit 35R4, and the like. Further, a lock operation unit 31R, an operation panel 70, and the like are provided on the upper surface of the tubular portion 30R. The shaft 21R has a handle fitting hole 21R1, a lock hole 21R2, a hollow portion 21R3, a guided member 24R, a shaft-side elastic member 26R, a pull-out prevention member 25R, and the like. An insertion hole 34R1 through which the shaft 21R is inserted is formed in the lid portion 34R. The handle 20R has a shaft fitting portion 20R1, a grip 18R, a brake lever BKL, and the like.

As shown in FIG. 8, the shaft 21R is inserted into the tubular portion 30R on one side (the tip on the side facing the X-axis direction) of the shaft-side elastic member 26R (corresponding to the shaft position restoration device). After that, it is fixed to the tubular portion 30R. Further, as shown in FIG. 8, the other side of the shaft-side elastic member 26R (the tip on the side facing the direction opposite to the X-axis direction) is inserted into the hollow portion 21R3 of the shaft 21R and fixed to the shaft 21R. ing.

Further, as shown in FIG. 8, the elastic unit 35R4 is fixed to the front end (the tip on the side facing the X-axis direction) in the tubular portion 30R. The elastic unit 35R4 has a tubular portion side elastic member 35R1 (corresponding to a shaft position restoration device), a collar 35R2, a damper 35R3, and the like. As shown in FIG. 8, one side (the tip on the side facing the X-axis direction) of the tubular portion side elastic member 35R1 is fixed to the elastic unit 35R4.

Further, as shown in FIG. 8, the other side of the tubular portion side elastic member 35R1 (the tip on the side facing the direction opposite to the X-axis direction) is fixed to the front side surface of the collar 35R2. Further, a damper 35R3 that absorbs an impact sound or the like when the tip of the shaft 21R collides is attached to the rear surface of the collar 35R2. Then, at the shaft reference position shown in FIG. 8, the tip of the shaft 21R is in contact with the rear side of the damper 35R3.

In FIG. 4, the shaft fitting portion 20R1 of the handle 20R is inserted into the insertion hole 34R1 of the lid portion 34R and fitted into the handle fitting hole 21R1 of the shaft 21R, and the handle 20R and the shaft 21R are integrated. Will be done. Then, the shaft 21R is swiveled clockwise by 90 ° in the X-axis direction, inserted between the upper and lower guide rollers 33R of the tubular portion 30R, and pushed along the X-axis direction. Before the pull-out prevention member 25R at the tip of the shaft 21R passes through the pull-out prevention panel 36R and reaches the guide rail 32R, the shaft 21R is turned 90 ° counterclockwise in the X-axis direction.

Then, when the shaft 21R is further pushed along the X-axis direction, the guided member 24R of the shaft 21R is inserted into the concave portion of the guide rail 32R, and the shaft 21R is guided by the guide rail 32R. Then, the tip on the front side of the shaft 21R is inserted until it comes into contact with the damper 35R3, and the tip on the front side of the shaft side elastic member 26R is fixed to the tubular portion 30R by an operator. The guide rail 32R and the guided member 24R correspond to a rotation prevention structure that prevents the shaft 21R from rotating around the shaft center axis 21RJ (see FIG. 4) extending in the front-rear direction of the frame inside the tubular portion 30R. To do.

● [Structure of lock mechanism (Figs. 6 and 7)]
Next, the structure of the locking mechanism will be described with reference to FIGS. 6 and 7. As shown in FIGS. 6 and 7, the lock mechanism includes a lock operation unit 31R, a slider 31R1, a swing member 31R2, a lock protrusion 31R3, an elastic member 31R4, and the like. FIG. 6 shows an example when the lock mechanism is in the “release state”, and FIG. 7 shows an example when the lock mechanism is in the “lock state”. Since the locking mechanism is also a pair on the left and right, the locking mechanism on the side of the tubular portion 30R and the shaft 21R will be described, and the description of the locking mechanism of the tubular portion 30L and the shaft 21L will be omitted.

6 and 7 show a state in which the user does not hold the handle 20R (see FIG. 1) and the shaft 21R is held in the shaft reference position (see FIG. 8). It shows a state in which the lock protrusion 31R3 faces the lock hole 21R2. Further, it is more preferable that the lock hole 21R2 is opened downward so that dust or the like does not accumulate.

The lock operation portion 31R is attached to the hole portion 30R1 formed in the tubular portion 30R, and is slidable in the frame front-rear direction (X-axis direction) along the hole portion 30R1. The state shown in FIG. 6 in which the user slides the lock operation unit 31R in the X-axis direction is the “release state”, and FIG. 7 in which the user slides the lock operation unit 31R in the direction opposite to the X-axis direction. The state shown in is the "locked state".

The slider 31R1 is movable in the vertical direction by the guide member 31R5, and an urging force is applied to the lower end portion from one end side of the swing member 31R2 and the elastic member 31R4 upward. In the "released state" shown in FIG. 6, the slider 31R1 moves upward by receiving an upward urging force from one end side of the elastic member 31R4 and the swing member 31R2. In the "locked state" shown in FIG. 7, the slider 31R1 is pushed downward by the lock operation unit 31R, and one end side of the swing member 31R2 is pushed downward.

The swing member 31R2 is capable of swinging around the fulcrum 31R7 by receiving an upward urging force from the elastic member 31R4 while the one end side is in contact with the lower end portion of the slider 31R1. Further, a lock projection 31R3 is connected to the other end side of the swing member 31R2. In the "released state" shown in FIG. 6, since the slider 31R1 is moving upward, one end side of the swing member 31R2 is pushed upward by the elastic member 31R4, and the other end side of the swing member 31R2 is It is moving downwards. In the "locked state" shown in FIG. 7, since the slider 31R1 is pushed down, one end side of the swing member 31R2 is pushed down by the slider 31R1 and the other end side of the swing member 31R2 moves upward. doing.

The lock protrusion 31R3 is movable in the vertical direction by the guide member 31R6, and the lower end side is connected to the other end side of the swing member 31R2. In the "released state" shown in FIG. 6, since the other end side of the swing member 31R2 has moved downward, the lock protrusion 31R3 is separated from the lock hole 21R2 of the shaft 21R. In the "locked state" shown in FIG. 7, since the other end side of the swing member 31R2 is moving upward, the lock protrusion 31R3 is inserted into the lock hole 21R2 of the shaft 21R.

[[Movable range of the shaft 21R in the locked state (FIGS. 8 to 10) and the movable range of the shaft 21R in the unlocked state (FIG. 11)]
FIG. 8 shows an example in the case where the user does not hold the handle 20R and the lock mechanism is in the “locked state”, and is in the frame front-rear direction (X-axis direction) with respect to the tubular portion 30R. An example of a state in which the positions of the shaft 21R and the handle 20R are held at the shaft reference position is shown. In FIGS. 8 to 11, the details of the lock mechanism are omitted, and the lock protrusion 31R3 indicates the “locked state” and the “released state”.

When no force is applied to the handle 20R in the front-rear direction (direction parallel to the X-axis direction), the shaft 21R and the handle 20R are in either the "locked state" or the "released state" of the locking mechanism. However, it is held at the shaft reference position shown in FIG. In this case, the shaft-side elastic member 26R (corresponding to the shaft position restoration device) and the tubular portion-side elastic member 35R1 (corresponding to the shaft position restoration device) move the shaft 21R and the handle 20R to the shaft reference position shown in FIG. Hold.

At the shaft reference position shown in FIG. 8, both the shaft-side elastic member 26R and the tubular portion-side elastic member 35R1 have a free length (the length when no force is applied), or the shaft-side elastic member 26R holds the shaft 21R. The force of pulling forward and the force of the tubular elastic member 35R1 pushing the shaft 21R backward are set to be balanced.

At this shaft reference position, the length of the shaft-side elastic member 26R is such that the lock projection 31R3 is located at a substantially central position within the front-rear regulation range W1 which is the length range of the lock hole 21R2 provided in the shaft 21R in the front-rear direction. And the length of the tubular portion side elastic member 35R1 are adjusted. The spring constant is set so that the spring constant K35 of the tubular portion-side elastic member 35R1 is larger than the spring constant K26 of the shaft-side elastic member 26R. For example, as shown in FIG. 8, the shaft reference position is set to a position close to the front end within the movable range of the shaft 21R in the front-rear direction of the frame.

As shown in FIG. 9, when the user grasps the handle 20R and pushes the handle 20R forward (in the X-axis direction) with the force Ff from the “locked state” shown in FIG. 8, the lock protrusion 31R3 is released. The shaft 21R and the handle 20R can move forward until they hit the rear edge of the lock hole 21R2. Then, when the user releases the handle 20R from the state shown in FIG. 9, the shaft 21R and the handle 20R are returned to the shaft reference positions shown in FIG. 8 by the elastic force of the tubular portion side elastic member 35R1. ..

As shown in FIG. 10, when the user grasps the handle 20R from the “locked state” shown in FIG. 8 and pulls the handle 20R backward (in the direction opposite to the X-axis direction) with the force Fr. The shaft 21R and the handle 20R can be moved rearward until the lock protrusion 31R3 abuts on the front edge of the lock hole 21R2. Then, when the user releases the handle 20R from the state shown in FIG. 10, the shaft 21R and the handle 20R are returned to the shaft reference positions shown in FIG. 8 by the elastic force of the shaft-side elastic member 26R.

Further, as shown in FIG. 11, in the "released state", the movement range of the shaft 21R in the front-rear direction of the frame is not restricted within the front-rear regulation range W1. Therefore, when the user grips the handle 20R and pulls the handle 20R backward by the force Fr, the pull-out prevention member 25R at the tip of the shaft 21R may be pulled backward until it interferes with the pull-out prevention panel 36R. it can. That is, when the user is in the "released state" shown in FIG. 11, the user can walk using the walking support device while swinging his / her arm greatly. The pull-out prevention member 25R and the pull-out prevention panel 36R correspond to a pull-out prevention structure that prevents the shaft 21R from coming off from the tubular portion 30R.

As described above, the shaft 21R (shaft 21L) is set with a shaft reference position which is a reference position in the front-rear direction of the frame with respect to the tubular portion 30R (cylindrical portion 30L) accommodating itself. As shown in FIG. 8, when the user does not grip the handle 20R, the shaft 21R and the handle 20R are shaft-referenced by the shaft position restoring device (shaft side elastic member 26R, tubular portion side elastic member 35R1). Hold in place. Then, as shown in FIG. 8, when the shaft 21R and the handle 20R are at the shaft reference positions, the substantially central position of the lock hole 21R2 in the front-rear direction of the frame faces the lock projection 31R3. Then, in the "locked state", the shaft 21R is held within the front-rear regulation range W1 in the front-rear direction of the frame so as to be close to the shaft reference position.

In FIGS. 8 to 10, the distance from the lock protrusion 31R3 to the front edge portion or the rear edge portion of the lock hole 21R2 is relatively large for easy understanding. However, the distance from the lock protrusion 31R3 to the front edge portion or the rear edge portion of the lock hole 21R2 is about 1 [mm]. Further, in the "released state", the user can pull the shaft 21R backward from the shaft reference position shown in FIG. 8, for example, to about 150 [mm].

● [Appearance of operation panel 70 (Fig. 12)]
Next, the operation panel 70 will be described with reference to FIG. In the example shown in this embodiment, the operation panel 70 is provided on the upper surface of the tubular portion 30R. Then, as shown in FIG. 12, the operation panel 70 includes a main switch 72, a battery remaining amount display unit 73, an arm swing mode indicator 74, a hand push mode indicator 75, a drive torque adjustment unit 76, and selection buttons 77A to 77D. It has a walking mode indicator 77 and the like composed of.

The main switch 72 is a switch that instructs the start of the walking support device 10, and when the user turns it on, power is supplied from the battery B to the control device 40 and the driving drives 64R and 64L to operate the walking support device 10. And enable operation. Further, the remaining battery level display unit 73 displays the remaining battery level of the battery B.

The drive torque adjusting unit 76 is an input unit for the user to adjust the strength of the driving torque of the traveling drive devices 64L and 64R when the walking support device 10 advances. For example, when the walking support device 10 is used on an uphill slope, the user inputs an instruction to increase the drive torque from the drive torque adjusting unit 76.

In addition, the walking support device 10 includes an "arm swing mode" that supports "arm swing walking" that walks while swinging the arm, and a "arm swing walking" that supports walking in a push-wheel state (non-arm swing walking) without swinging the arm. There are two operation modes, "hand push mode" and. When the user desires "arm swing walking", the user operates the arm swing mode indicator 74 to set the operation mode to "arm swing mode", and lock operation units 31L, 31R so as to be in the "release state". To start "arm swing walking" in which the left and right handles 20L, 20R, or the grips 18L, 18R are gripped and the arm is swung while walking.

Further, when the user desires "non-arm swing walking", the user operates the hand-push mode indicator 75 to set the operation mode to "hand-push mode", and the lock operation unit 31L, so as to be in the "locked state". The 31R is operated to start "non-arm swing walking" in which the left and right handles 20L, 20R, or the grips 18L, 18R are grasped and the walking is performed without swinging the arm.

Further, the walking support device 10 has three types of "walking mode 1", "walking mode 2", and "walking mode" in which walking training is performed while teaching the target walking cycle of the user by, for example, the tempo sound of the metronome. There are four walking support modes: "3" and "normal mode" that provides normal walking support without teaching the user's target walking cycle. "Walking mode 1" is a walking training in which both the walking rate [steps / minute] and the stride length [cm] increase, and the walking speed [m / minute] increases. "Walking mode 2" is a walking training in which the walking rate [steps / minute] remains the same, the stride length [cm] is slightly widened, and the walking speed [m / min] is increased. "Walking mode 3" is a walking training in which the walking speed [m / min] is the same and the stride length [cm] is slightly widened.

When the user desires walking support in the "normal mode", the user operates the selection button 77A of the walking mode indicator 77 to set the "normal mode". Further, when the user desires walking support in "walking mode 1" in which walking training is performed while teaching the target walking cycle by, for example, the tempo sound of the metronome, the selection button 77B of the walking mode indicator 77 To set to "walking mode 1".

Further, when the user desires walking support in "walking mode 2" in which walking training is performed while teaching the target walking cycle by, for example, the tempo sound of the metronome, the selection button 77C of the walking mode indicating unit 77 To set to "walking mode 2". Further, when the user desires walking support in "walking mode 3" in which walking training is performed while teaching the target walking cycle with, for example, the tempo sound of the metronome, the selection button 77D of the walking mode indicator 77 To set to "walking mode 3". The details of walking modes 1 to 3 will be described later (see FIGS. 20 and 21).

● [Input / output of control device 40 (FIG. 13)]
FIG. 13 is a block diagram showing input / output of the control device 40. The control device 40 includes a control device such as a CPU (not shown), a storage device 44, a timer 45, and the like. Further, the control device 40 is input with the detection signals from the traveling speed detection devices 64LE and 64RE, the detection signals from the handle state detection devices 21RS and 21LS, and the detection signals from the three-axis acceleration / angular velocity sensor 50S.

Further, the control device 40 operates the main switch 72, the arm swing mode indicator 74, the hand push mode indicator 75, the drive torque adjustment unit 76, and the walking mode indicator 77 selection buttons 77A to 77D from the operation panel 70. The status has been entered. Further, the control device 40 outputs the battery remaining amount information to be displayed on the battery remaining amount display unit 73 of the operation panel 70 to the operation panel 70, and outputs the control signal to the traveling drive devices 64L and 64R. Further, a speaker 66 is electrically connected to the control device 40, and a periodic sound (for example, a tempo sound of a metronome having a fixed period, a rhythm sound of a musical instrument, a shout, etc.) is output.

The control device 40 includes a device ground speed calculation unit 40A, a handle front-rear position calculation unit 40B, a handle movement speed calculation unit 40C, a handle ground speed calculation unit 40D, a ground speed correction amount calculation unit 40E, and a traveling speed adjustment unit. It has 40F, a handle front / rear center position calculation unit 40G, a center position speed correction amount calculation unit 40H, and the like, which will be described later.

● [Processing procedure of control device 40 (FIGS. 14 to 21)]
FIG. 14 shows the overall processing in the processing procedure of the control device 40. When the user turns on the main switch 72, the process shown in FIG. 14 is activated at predetermined time intervals (for example, several [ms] intervals). When the process shown in FIG. 14 is activated, the control device 40 proceeds to step S010. In the following, an example of a case where the user walks forward together with the walking support device 10 will be described.

In step S010, the control device 40 executes SB100 (input processing) to proceed to step S020. The details of SB100 (input processing) will be described later. Subsequently, in step S020, the control device 40 executes SB200 (walking cycle acquisition process) to proceed to step S040. The details of SB200 (walking cycle acquisition process) will be described later.

In step S040, the control device 40 executes SB400 (ground speed correction amount calculation process) and proceeds to step S050. The details of SB400 (ground speed correction amount calculation process) will be described later.

In step S050, the control device 40 executes SB500 (center position speed correction amount calculation process) and proceeds to step S060. The details of SB500 (center position speed correction amount calculation process) will be described later.

In step S060, the control device 40 executes SB600 (progress speed adjustment process) and proceeds to step S070. The details of SB600 (progress speed adjustment processing) will be described later. Subsequently, in step S070, the control device 40 executes SB700 (walking rhythm sound generation processing) and ends (returns) the processing. The details of SB700 (walking rhythm sound generation processing) will be described later.

● [SB100: Details of input processing (FIG. 15)]
Next, the details of SB100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 14, the control device 40 proceeds to step SB010 shown in FIG.

In step SB010, the control device 40 stores the mode switching, target torque, walking mode, right handle front / rear position, right traveling speed, left handle front / rear position, left traveling speed, vehicle body inclination, and pitch stored in the storage device 44. The angular velocity, yaw angular velocity, and roll angular velocity are updated and the process proceeds to step SB020.

Specifically, the control device 40 switches between the "arm swing mode" and the "hand push mode" based on the input information from the arm swing mode indicator 74 and the hand push mode indicator 75 (see FIG. 12). Remember one. Further, the control device 40 stores the target torque based on the input information from the drive torque adjusting unit 76 (see FIG. 12). Further, the control device 40 sets the walking mode to "normal mode", "walking mode 1", and "walking mode" based on the input information from the selection buttons 77A to 77D (see FIG. 12) of the walking mode indicating unit 77. Either "2" or "walking mode 3" is memorized.

Further, the control device 40 sets the position of the handle 20R with respect to the frame 50 (the position in the front-rear direction of the frame) to the right front-rear position of the handle, which is obtained based on the detection signal from the handle state detection device 21RS (see FIG. Remember. Further, the control device 40 detects the rotation speed of the (right) traveling drive device 64R based on the detection signal from the (right) traveling speed detection device 64RE of the (right) traveling drive device 64R, and detects the rotation speed of the (right) traveling drive device 64R, and the rear wheel 60RR. The traveling speed of the rear wheel 60RR is detected from the number of revolutions of the vehicle and stored in the right traveling speed (see FIG. 1).

Similarly, the control device 40 stores the left front / rear position and the left traveling speed. Further, the control device 40 stores tilt information such as the tilt angle and tilt direction of the vehicle body of the walking support device 10 obtained based on the detection signal from the three-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the vehicle body tilt. .. Further, the control device 40 stores the angular velocity around the Y-axis of the walking support device 10 obtained based on the detection signal from the 3-axis acceleration / angular velocity sensor 50S (see FIG. 1) in the pitch angular velocity, and stores the angular velocity around the Z-axis. Is stored in the yaw angular velocity, and the angular velocity around the X axis is stored in the roll angular velocity.

The control device 40 executing the process of step SB010 has each handle 20R in the frame front-rear direction with respect to the frame 50 (walking support device 10) based on the detection signals from the respective handle state detection devices 21RS and 21LS. , Corresponds to the handle front-rear position calculation unit 40B (see FIG. 13) that calculates the respective handle front-rear positions (right-hand handle front-rear position and left-handle front-rear position), which are the positions of 20L.

In step SB020, the control device 40 executes SBA00 (right (left) movement speed, movement direction, amplitude calculation process) and proceeds to step SB030. The details of SBA00 (right (left) movement speed, movement direction, amplitude calculation processing) will be described later (see FIG. 16).

In step SB030, the control device 40 obtains and stores the traveling speed of the walking support device based on the right traveling speed and the left traveling speed stored in step SB010, and proceeds to the process in step SB035. For example, the control device 40 obtains the traveling speed at the traveling speed = (right traveling speed + left traveling speed) / 2, and stores the traveling speed in the storage device 44 in time series.

The control device 40 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 detecting device, and the device ground speed calculation unit 40A (see FIG. 13). Corresponds to.

In step SB035, the control device 40 reads out the progress speed at the time of the previous processing and the progress speed at the time of the current processing from the storage device 44. Then, the control device 40 obtains the acceleration at the acceleration = (progress speed at the time of this processing (current progress speed) -progress speed at the time of the previous processing (previous progress speed)) / time, and stores the time in the storage device 44. After storing in series, the process proceeds to step S050. The "time" in this case is the time of the interval at which the process of FIG. 14 is started (for example, 10 [ms] when starting at intervals of 10 [ms]).

In step SB050, the control device 40 determines whether or not the mode switching is in the "hand-push mode", and if it is in the hand-push mode (SB050: YES), proceeds to step SB070A, and if not (SB050). : NO) proceeds to step SB070B.

When the process proceeds to step SB070A, the control device 40 stores the hand-push mode in the "operation mode" and ends (returns) the process.

On the other hand, when the process proceeds to step SB070B, the control device 40 stores the arm swing mode in the "operation mode" and ends (returns) the process.

● [SBA00: Details of right (left) movement speed, movement direction, amplitude calculation process (Fig. 16)]
Next, the details of SBA00 (right (left) movement speed, movement direction, amplitude calculation process) will be described with reference to FIG. When executing SBA00 in step SB020 shown in FIG. 15, the control device 40 proceeds to step SBA05 shown in FIG.

In step SBA05, the control device 40 determines whether or not the "operation mode" is the arm swing mode, and if the "operation mode" is the arm swing mode (SBA05: YES), the process proceeds to step SBA10. , If the "operation mode" is not the arm swing mode (SBA05: NO), the process ends (returns).

When the process is advanced to step SBA 10, the control device 40 sets the right handle movement speed to "(right handle front / rear position at the time of this processing (this time right handle front / rear position) -right handle front / rear position at the previous processing". (Previous time, the front and rear positions of the right handle)) / time ”, the speed is memorized, and the process proceeds to step SBA15. The "time" in this case is the time of the interval at which the process of FIG. 14 is started (for example, when the process is started at intervals of 10 [ms], it is 10 [ms]). Also, if the front / rear position of the right handle is ahead of the front / rear position of the right handle this time, the movement speed of the right handle will be "positive", and the front / rear position of the right handle this time will be higher than the front / rear position of the right handle last time. In the case of the rear, the right-handed movement speed is a "negative" speed.

In step SBA 15, the control device 40 has the right-handed movement speed at the time of the previous processing (previous right-handed movement speed) = positive (greater than 0), and the right-handed movement speed at the time of the current processing (this time right-handed). It is determined whether or not (movement speed) = negative (0 or less). Then, when the control device 40 is satisfied (SBA15: YES), the process proceeds to step SBA25A, and when not satisfied (SBA15: NO), the process proceeds to step SBA20.

When the process proceeds to step SBA25A, the control device 40 stores the right front / rear position of the right handle in the "right front end position" this time, and proceeds to the process to step SBA30 described later.

When the processing proceeds to step SBA 20, the control device 40 has the right-handed movement speed at the time of the previous processing (previous right-handed movement speed) = negative (less than 0), and the right-handed movement speed at the time of the current processing (less than 0). This time, it is determined whether or not the right-handed movement speed) = positive (0 or more). Then, when the control device 40 is satisfied (SBA20: YES), the process proceeds to step SBA25B, and when not satisfied (SBA20: NO), the process proceeds to step SBA27.

When the process proceeds to step SBA25B, the control device 40 stores the right front / rear position of the right handle in the “right rear end position” and proceeds to step SBA26. When the process proceeds to step SBA 26, the control device 40 reads the "right rear end position flag" from the storage device 44, sets it to "ON", stores it in the storage device 44 again, and then performs the process in step SBA 30. Proceed. The control device 40 sets the right rear end position flag to "OFF" at startup and stores it in the storage device 44. Then, when the process proceeds to step SBA 30, the control device 40 stores the length obtained in the right front end position-right rear end position (right front end position> right rear end position) in the "right amplitude", and then, after that, The process proceeds to step SBB10.

When the process proceeds to step SBA 27, the control device 40 reads the "right rear end position flag" from the storage device 44, sets it to "OFF", stores it in the storage device 44 again, and then performs the process in step SBB 10. Proceed.

The processes of steps SBB10 to SBB25B and SBB30 are processes for obtaining the left moving speed, left front end position, left rear end position, and left amplitude of the left handle 20L, and the right moving speed and right of the right handle 20R. Since it is the same as steps SBA10 to SBA25B and SBA30 for obtaining the front end position, the right rear end position, and the right amplitude, the description thereof will be omitted.

The control device 40 executing the processes of steps SBA10 and SBB10 moves each handle with respect to the walking support device 10 based on the front / rear positions of the respective handles (front / rear position of the right handle and front / rear position of the left handle). It corresponds to the handle movement speed calculation unit 40C (see FIG. 13) that calculates each handle movement speed (right handle movement speed and left handle movement speed), which is the speed.

● [SB200: Details of walking cycle acquisition process (Fig. 17)]
Next, the details of SB200 (walking cycle acquisition process) will be described with reference to FIG. When executing SB200 in step S020 shown in FIG. 14, the control device 40 proceeds to step SB205 shown in FIG.

In step SB205, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is the “normal mode”. Then, when it is determined that the walking mode is the "normal mode" (SB205: YES), the control device 40 ends (returns) the process. On the other hand, when it is determined that the walking mode is not the "normal mode" (SB205: NO), the control device 40 proceeds to step SB206.

In step SB206, the control device 40 reads out the "walking cycle flag" indicating that the walking cycle TB has been acquired from the storage device 44, and determines whether or not it is set to "ON". Then, when it is determined that the walking cycle flag is set to "ON" (SB206: YES), the control device 40 determines that the walking cycle TB has been acquired, and ends (returns) the process. ). On the other hand, when it is determined that the walking cycle flag is set to "OFF" (SB206: NO), the control device 40 proceeds to step SB210.

In step SB210, the control device 40 reads the operation mode from the storage device 44 and determines whether or not the operation mode is the arm swing mode. Then, when it is determined that the operation mode is the arm swing mode (SB210: YES), the control device 40 proceeds to the process in step SB211.

When the process proceeds to step SB211, the control device 40 reads the right rear end position flag from the storage device 44 and determines whether or not it is set to “ON”. Then, when it is determined that the right rear end position flag is set to "OFF" (SB211: NO), the control device 40 ends (returns) the process. On the other hand, if it is determined that the right rear end position flag is set to "ON" (SB211: YES), the control device 40 proceeds to step SB212. In step SB212, the control device 40 reads the time T1 from the timer 45, stores it in the storage device 44 in chronological order, and then proceeds to the process in step SB213. As a result, the time T1 when the heel of the left foot touches the ground is stored.

In step SB213, the control device 40 reads the time T1 at the time of the previous processing and the time T1 at the time of the current processing from the storage device 44. Then, the control device 40 sets the measurement walking cycle TW1 [seconds / step] at the measurement walking cycle TW1 = the time T1 at the time of the current processing (the current time T1) -the time T1 at the time of the previous processing (the previous time T1). After obtaining the data and storing the data in the storage device 44, the process proceeds to step SB215. As a result, the control device 40 calculates the time from the previous heel of the left foot to the ground to the heel of the left foot this time, that is, the measured walking cycle TW1 [seconds / step], and is a storage device. Store in 44.

In step SB215, the control device 40 reads the number N of times the walking cycle is measured from the storage device 44, adds "1" to the number of times N, stores the walking cycle in the storage device 44 again, and then proceeds to the process of step SB216. At the time of activation, the control device 40 substitutes "0" for the number of times N and stores it in the storage device 44.

In step SB216, the control device 40 reads out the number N of times the walking cycle is measured from the storage device 44, and determines whether or not the number N is "11" or more. Then, when it is determined that the number of times N is less than "11" (SB216: NO), the control device 40 proceeds to the process of step SB217. In step SB217, the control device 40 reads the total walking cycle TA from the storage device 44, adds the measured walking cycle TW1 measured this time to the total walking cycle TA, stores it in the storage device 44 again, and then stores the total walking cycle TA. End (return) processing. At the time of activation, the control device 40 substitutes "0" for the total walking cycle TA and stores it in the storage device 44.

On the other hand, when it is determined in step SB216 that the number of times N is "11" or more (SB216: YES), the control device 40 proceeds to the process of step SB218. In step SB218, the control device 40 reads the number of times N of the walking cycle measured from the storage device 44, substitutes "0" for this number of times N, stores the walking cycle in the storage device 44 again, and then proceeds to the process of step SB219. ..

In step SB219, the control device 40 reads the total walking cycle TA for 10 walking cycles from the storage device 44, obtains the walking cycle TB at the walking cycle TB = (total walking cycle TA) / 10, and stores the walking cycle TB in the storage device 44. After storing, the process proceeds to step SB220. The control device 40 executing the process of step SB219 functions as an example of the walking cycle acquisition unit. Further, the average value of the total walking cycle TA, which is the sum of 5 to 10 arbitrary numbers of measured walking cycles TW1, may be defined as the walking cycle TB. Further, the average value of the total walking cycle TA, which is the sum of the measured walking cycles TW1 measured from the start of running to the elapse of 5 to 10 seconds, may be used as the walking cycle TB. Further, the average value of the total walking cycle TA, which is the sum of the measured walking cycles TW1 measured from the start of running until the mileage reaches 8 m to 10 m, may be used as the walking cycle TB.

In step SB 220, the control device 40 reads the total walking cycle TA from the storage device 44, substitutes “0” for the total walking cycle TA, stores the total walking cycle TA in the storage device 44 again, and then proceeds to the process of step SB221. In step SB221, the control device 40 reads the walking cycle flag indicating that the walking cycle TB has been acquired from the storage device 44, sets the walking cycle flag to “ON”, and stores the walking cycle flag in the storage device 44 again. , End (return) the process. At the time of activation, the control device 40 sets the walking cycle flag to "OFF" and stores it in the storage device 44.

On the other hand, when it is determined in step SB210 that the operation mode is not the arm swing mode, that is, when it is determined that the operation mode is the hand-push mode (SB210: NO), the control device 40 processes in step SB230. Proceed. When the processing is advanced to step SB230, the control device 40 reads the acceleration at the time of the previous processing and the acceleration at the time of the current processing from the storage device 44, and the acceleration at the time of the previous processing (previous acceleration) = negative (less than 0). In addition, it is determined whether or not the acceleration at the time of this processing (acceleration this time) = positive (0 or more).

Here, the hand push mode indicating unit 75 is operated, and the lock operation units 31L and 31R are operated so as to be in the locked state, and the left and right handles 20L and 20R or the respective grips 18L and 18R are gripped and the arm is gripped. The change in the traveling speed of the walking support device 10 when the “hand-pushing mode” for walking without shaking is set will be described with reference to FIG. FIG. 22 is a diagram showing an example of the traveling speed (m / min) in the hand-push mode of the walking support device 10.

As shown in FIG. 22, the traveling speed curve 81, which is an example of the traveling speed [m / min] in the hand-push mode of the walking support device 10, shows, for example, that the right foot is the user after the heel of the left foot of the user touches the ground. The speed is increasing until it comes out in front of. Then, the traveling speed curve 81 decelerates from the time when the right foot comes out in front of the user until the heel of the right foot touches the ground. Subsequently, the traveling speed curve 81 is accelerated again after the heel of the user's right foot touches the ground until the left foot comes out in front of the user. Then, the traveling speed curve 81 decelerates from the time when the left foot comes out in front of the user until the heel of the left foot touches the ground again.

Therefore, when the heel of the user's left foot touches the ground, or when the heel of the user's right foot touches the ground, the traveling speed curve 81 changes from the deceleration state to the acceleration state. That is, when the acceleration of the walking support device 10 changes from negative (less than 0) to positive (0 or more) to form each valley 81A of the traveling speed curve 81, the heel of the left foot of the user or the user. The heel of his right foot is in contact with the ground. From this, as shown in FIG. 22, the time [sec] that elapses while the three valleys 81A of the traveling speed curve 81 are generated is the user's one walking cycle TW1 (= measured walking cycle TW1) [seconds / step. ] Is considered.

As shown in FIG. 17, when it is determined in step SB230 that the acceleration during the previous processing (previous acceleration) = negative (less than 0) and the acceleration during the current processing (current acceleration) = not positive (0 or more). (SB230: NO), the control device 40 ends (returns) the process. That is, the control device 40 determines that it is not the valley 81A (see FIG. 22) of the traveling speed curve 81, that is, determines that the heel of the user's left foot or the heel of the user's right foot is not in contact with the ground. Then, the process is terminated (returned).

On the other hand, in step SB230, when it is determined that the acceleration during the previous processing (previous acceleration) = negative (less than 0) and the acceleration during the current processing (current acceleration) = positive (0 or more) (SB230: YES), the control device 40 proceeds to the process of step SB231. That is, the control device 40 determines that the valley 81A (see FIG. 22) of the traveling speed curve 81, that is, the heel of the user's left foot or the heel of the user's right foot touches the ground. Then, the process proceeds to step SB231.

In step SB231, the control device 40 reads the time T2 from the timer 45, stores the time T2 in the storage device 44 in time series, and then proceeds to the process in step SB232. As a result, the time T2 when the heel of the user's left foot or the heel of the right foot touches the ground is stored. Then, in step SB232, the control device 40 reads the number of times M in which the time T2 is stored from the storage device 44, adds "1" to the number of times M, stores the time in the storage device 44 again, and then performs the process in step SB233. move on. At the time of activation, the control device 40 substitutes "0" for the number of times M and stores it in the storage device 44.

In step S233, the control device 40 reads the number of times M in which the time T2 is stored from the storage device 44, and whether or not the number of times M is "3" or more, that is, the time of the third valley 81A (see FIG. 22). It is determined whether or not T2 is stored. Then, when it is determined that the number of times M is less than "3" (SB233: NO), it is determined that the control device 40 does not store the time T2 of the third valley 81A (see FIG. 22). , End (return) the process.

On the other hand, when it is determined that the number of times M is "3" or more (SB233: YES), the control device 40 determines that the time T2 of the third valley 81A (see FIG. 22) is stored, and steps. Proceed to the processing of SB234. In step SB234, the control device 40 reads out the time T2 at the time of the previous processing and the time T2 at the time of the current processing from the storage device 44.

Then, the control device 40 sets the measurement walking cycle TW1 [seconds / step] at the measurement walking cycle TW1 = the time T2 at the time of the current processing (the time T2 this time) -the time T2 at the time of the processing two times before the previous time (the time T2 two times before the previous time). After obtaining and storing in the storage device 44, the process proceeds to step SB235. As a result, the control device 40 determines the time from when the heel of the previous left foot touches the ground to when the heel of the left foot touches the ground, or after the heel of the previous right foot touches the ground, the heel of the right foot this time. The time until the heel reaches the ground, that is, the measured walking cycle TW1 (1 walking cycle) [seconds / step] is calculated and stored in the storage device 44.

In step SB235, the control device 40 reads the number of times M in which the time T2 is stored from the storage device 44, substitutes "0" for this number of times M, stores the time T2 in the storage device 44 again, and then performs the process of step SB215. move on. Then, after executing the process of step SB215 to step SB221, the control device 40 ends (returns) the process. As a result, the control device 40 can calculate the walking cycle TB in the hand-push mode and set the walking cycle flag to “ON”.

● [SB400: Details of ground speed correction amount calculation process (Fig. 18)]
Next, the details of SB400 (ground speed correction amount calculation processing) will be described with reference to FIG. When executing SB400 in step S040 shown in FIG. 14, the control device 40 proceeds to step SB405 shown in FIG.

In step SB405, the control device 40 determines whether or not the operation mode is the arm swing mode, and if the operation mode is the arm swing mode (SB405: YES), the process proceeds to step SB410, and the operation mode is changed. If it is not in the arm swing mode (SB405: NO), the process proceeds to step SB450B.

When the process proceeds to step SB410, the control device 40 obtains "progress speed + right hand movement speed", stores it in the right hand ground speed, and obtains "progress speed + left hand movement speed". After storing in the left-handed ground speed, the process proceeds to step SB420.

The "traveling speed" is the speed of the walking support device 10 with respect to the ground, and the "right handle moving speed" is the moving speed of the (right) handle 20R with respect to the walking support device 10 in the frame front-rear direction. "Right handle to ground speed" is the moving speed of the (right) handle 20R with respect to the ground in the front-rear direction of the frame. Further, the "right-handed movement speed" is set to a "positive" speed in the same direction as the "traveling speed" and a "negative" speed in the direction opposite to the "traveling direction". That is, when the traveling speed is a forward speed, the forward right-handed movement speed is "positive" and the backward right-handed movement speed is "negative". The left-handed ground speed is also obtained in the same manner.

The control device 40 executing the process of step SB410 has a ground speed (right hand), which is the speed of each hand with respect to the ground, based on the moving speed of each hand and the traveling speed. It corresponds to the handle-to-ground speed calculation unit 40D (see FIG. 13) that calculates the ground speed and the left-handed ground speed).

In step SB420, the control device 40 determines whether or not the right-handed ground speed is negative (less than 0), and if it is negative (less than 0), the process proceeds to step SB440. If not (SB420: NO), the process proceeds to step SB430.

When the process proceeds to step SB430, the control device 40 determines whether or not the left-handed ground speed is negative (less than 0), and if it is negative (less than 0) (SB430: YES). , Step SB440 proceeds, and if not (SB430: NO), the process proceeds to step SB450B.

When the process proceeds to step SB440, the control device 40 calculates the weighting coefficient according to the traveling speed and proceeds to the process to step SB450A. For example, the weighting factor is set to decrease as the traveling speed increases.

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

When the control device 40 executing the process of steps SB440 and SB450A sets the traveling speed to "positive" and at least one of the ground speeds of each handle is "negative", the speed is "negative". It corresponds to the ground speed correction amount calculation unit 40E (see FIG. 13) that calculates the ground speed correction amount for accelerating the walking support device 10 in the direction of the traveling speed.

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

When the ground speed correction amount is a positive value larger than 0, the traveling speed of the walking support device 10 can be accelerated. Further, when the ground speed correction amount is a negative value less than 0, the traveling speed of the walking support device 10 can be decelerated. Further, when the ground speed correction amount is zero, the walking support device 10 coasts, but the traveling speed is decelerated due to rolling resistance or the like.

● [SB500: Details of center position velocity correction amount calculation process (FIG. 19)]
Next, the details of the SB500 (center position velocity correction amount calculation process) will be described with reference to FIG. When executing the SB500 in step S050 shown in FIG. 14, the control device 40 proceeds to the step SB505 shown in FIG.

In step SB505, the control device 40 determines whether or not the operation mode is the arm swing mode, and if the operation mode is the arm swing mode (SB505: YES), the process proceeds to step SB510, and the operation mode is changed. If it is not in the arm swing mode (SB505: NO), the process proceeds to step SB550.

When the process proceeds to step SB510, the control device 40 obtains "(right handle front / rear position + left handle front / rear position) / 2" and stores it in the storage device 44 as the handle front / rear center position, and in step SB520. Proceed with processing.

The control device 40 executing the process of step SB510 asks the handle front-rear center position calculation unit 40G (see FIG. 13) to obtain the handle front-rear center position which is the center in the frame front-rear direction with respect to each handle front-rear position. Equivalent to.

FIG. 23 is a view of the walking support device 10 as viewed from above. (Right) Handle 20R front / rear position (PmR), (Left) Handle 20L front / rear position (PmL), virtual front / rear reference It is a figure explaining the position (Ps), the center position (Pmc) in the front-rear direction of the handle, and the center position (Pc) of the movable range (the moving range of the shafts 21L and 21R in the front-back direction of the frame). For example, in the front-rear direction of the frame, the movable range L1 of the handles 20R and 20L is from the front end position (Po) of the movable range L1 to the rear end position (Pr) of the movable range.

The central position (Pc) is the central position of the movable range L1 in the front-rear direction of the frame. For example, a position that is behind the central position (Pc) of the movable range L1 by a predetermined distance La is set as a virtual front-rear reference position (Ps) that is a predetermined position in the front-rear direction of the frame. Further, the central position of the right handle front-rear position (PmR) and the left handle front-rear position (PmL) in the frame front-rear direction is the handle front-rear center position (Pmc).

In step SB520, the control device 40 obtains the "handle front-back center position-virtual front-back reference position" and stores it in the storage device 44 as a front-back direction deviation, and proceeds to the process in step SB530. As shown in FIG. 23, the front-back direction deviation ΔL is a deviation between the front-back center position (Pmc) of the handle and the virtual front-back reference position (Ps).

In step SB530, the control device 40 obtains the center position speed correction amount according to the deviation in the front-rear direction, stores the obtained center position speed correction amount, and ends (returns) the process. For example, the front-rear direction deviation / center position speed correction amount characteristic shown in FIG. 24 is stored in the storage device, and the control device 40 is based on the front-rear direction deviation / center position speed correction amount characteristic and the front-rear direction deviation. , The center position velocity correction amount is obtained and stored.

When the process proceeds to step SB550, the control device 40 obtains the "right handle front-rear position-handle reference position (position of the handle 20R corresponding to the shaft reference position)" and stores it in the storage device 44 as a right deviation. Then, the process proceeds to step SB560. When the operation mode is the "hand push mode", the lock operation units 31L and 31R are in the "locked state", so that the user cannot walk while holding the handle and swinging his arm. In the "hand push mode", in the following steps SB550 to SB580, when the handles 20L and 20R are pushed forward, the walking support device 10 is accelerated forward by the center position speed correction.

In step SB560, the control device 40 obtains the "left handle front-rear position-handle reference position (position of the handle 20L corresponding to the shaft reference position)" and stores it in the storage device 44 as a left deviation, and in step SB570. Proceed with processing.

In step SB570, the control device 40 obtains "(right deviation + left deviation) / 2" and stores it in the storage device 44 as a front-back direction deviation, and proceeds to the process in step SB580.

In step SB580, the control device 40 obtains the center position speed correction amount according to the deviation in the front-rear direction, stores the obtained center position speed correction amount, and ends (returns) the process. For example, the front-rear direction deviation / center position speed correction amount characteristic shown in FIG. 24 is stored in the storage device 44, and the control device 40 is based on the front-rear direction deviation / center position speed correction amount characteristic and the front-rear direction deviation. Then, the center position velocity correction amount is obtained and stored. Even if the values of the deviations in the front-rear direction are the same, if the center position speed correction amount (step SB580) in the locked state is larger than the center position speed correction amount (step SB530) in the unlocked state, it becomes more preferable.

The control device 40 executing the processing of steps SB520, SB530, SB570, and SB580 adjusts the traveling speed of the walking support device 10 so that the front / rear center position of the handle approaches the virtual front / rear reference position in the front / rear direction of the frame. It corresponds to the central position speed correction amount calculation unit 40H (see FIG. 13) that calculates the position speed correction amount.

● [SB600: Details of Progress Speed Adjustment Process (Fig. 20)]
Next, the details of SB600 (progress speed adjustment processing) will be described with reference to FIG. When executing SB600 in step S060 shown in FIG. 14, the control device 40 proceeds to step SB610 shown in FIG.

In step SB610, the control device 40 obtains "progress speed + ground speed correction amount + center position speed correction amount" and stores it in the storage device 44 as the right target speed, and "progress speed + ground speed correction amount + center position speed". The "correction amount" is obtained and stored in the storage device 44 as the left target speed, and the process proceeds to step SB611.

In step SB611, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is the “normal mode”. Then, when it is determined that the walking mode is the "normal mode" (SB611: YES), the control device 40 proceeds to the process of step SB620.

In step SB620, the control device 40 reads out the right target speed and the target torque from the storage device 44, and controls the (right) traveling drive device 64R so as to have the right target speed and the target torque. Further, the control device 40 reads out the left target speed and the target torque from the storage device 44, controls the (left) traveling drive device 64L so as to have the left target speed and the target torque, and ends the process. To (return).

On the other hand, if it is determined in step SB611 that the walking mode is not the "normal mode" (SB611: NO), the control device 40 proceeds to the process of step SB612. In step SB612, the control device 40 reads the “walking cycle flag” indicating that the walking cycle TB (see FIG. 17) has been acquired from the storage device 44, and determines whether or not it is set to “ON”. Then, when it is determined that the walking cycle flag is set to "OFF", that is, when it is determined that the walking cycle TB is being measured (SB612: NO), the control device 40 performs the step SB620. Proceed to processing. After executing the process of step SB620, the control device 40 ends (returns) the process.

On the other hand, when it is determined that the walking cycle flag is set to "ON", that is, when it is determined that the measurement of the walking cycle TB is completed (SB612: YES), the control device 40 processes the step SB613. Proceed to. In step SB613, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is “walking mode 1”. Then, when it is determined that the walking mode is "walking mode 1" (SB613: YES), the control device 40 proceeds to the process of step SB614.

In step SB614, the control device 40 sets the right target speed and the left target speed to be increased by "3%" (predetermined second ratio), and then proceeds to the process of step SB620. Specifically, the control device 40 stores the value obtained by multiplying the right target speed by "1.03" in the storage device 44 as the right target speed. Further, the control device 40 stores the value obtained by multiplying the left target speed by "1.03" as the left target speed in the storage device 44, and then proceeds to the process of step SB620. Then, after executing the process of step SB620, the control device 40 ends (returns) the process.

On the other hand, if it is determined in step SB613 that the walking mode is not "walking mode 1" (SB613: NO), the control device 40 proceeds to the process of step SB615. In the process of step SB615, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is “walking mode 2”. Then, when it is determined that the walking mode is "walking mode 2" (SB615: YES), the control device 40 proceeds to the process of step SB614. After executing the process of step SB614, the control device 40 proceeds to the process of step SB620. Then, after executing the process of step SB620, the control device 40 ends (returns) the process.

On the other hand, when it is determined in step SB615 that the walking mode is not "walking mode 2", that is, when it is determined that the walking mode is "walking mode 3" (SB615: NO), the control device 40 determines. The process proceeds to step SB620. Then, after executing the process of step SB620, the control device 40 ends (returns) the process.

Therefore, when the walking mode is set to "walking mode 3", the right target speed and the left target speed are the same as the right target speed and the left target speed when the walking mode is set to the "normal mode". Is set to. Further, when the walking mode is set to "walking mode 1" or "walking mode 2", the right target speed and the left target speed are the right target speed when the walking mode is set to "normal mode". It is set to be "3%" (predetermined second ratio) faster than the left target speed. The speed is not limited to "3%", and may be set to be faster by any ratio (predetermined second ratio) of, for example, 2% to 10%.

The control device 40 executing the process of steps SB610 to SB620 controls the traveling drive device so as to obtain the target speed obtained based on the traveling speed and the ground speed correction amount (and the center position speed correction amount). , Corresponds to the traveling speed adjusting unit 40F (see FIG. 13).

● [Example of user's arm swing walking state and walking state of walking support device (Fig. 25)]
FIG. 25 shows a state in which the user holds the (right) handle 20R with the right hand, holds the (left) handle 20L with the left hand, and walks while swinging the left arm from the front to the back (the right arm is from the back to the front). Is given an example.

(Left) When the handle 20L moves backward, the movement speed of the handle 20L seen from the ground (Left) When the handle ground speed becomes "negative", walking support is provided by the ground speed correction amount. Since the device 10 accelerates forward, the (left) handle 20L appears to be stationary when viewed from the ground, as shown by the alternate long and short dash line in FIG. 25. That is, the walking support device 10 advances while adjusting the traveling speed so that the rearwardly moved (left) handle 20L appears to be stationary when viewed from the ground.

● [SB700: Details of walking rhythm sound generation processing (Fig. 21)]
Next, the details of SB700 (walking rhythm sound generation processing) will be described with reference to FIG. When executing the SB700 in step S070 shown in FIG. 14, the control device 40 proceeds to the process SB705 shown in FIG.

In step SB705, the control device 40 reads the “walking cycle flag” indicating that the walking cycle TB (see FIG. 17) has been acquired from the storage device 44, and determines whether or not it is set to “ON”. Then, when it is determined that the walking cycle flag is set to "OFF" (SB705: NO), the control device 40 ends (returns) the process. On the other hand, when it is determined that the walking cycle flag is set to "ON" (SB705: YES), the control device 40 determines that the walking cycle TB (see FIG. 17) has been acquired, and processes in step SB706. To proceed.

In step SB706, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is the “normal mode”. That is, the control device 40 determines whether or not the walking mode is set to the "normal mode" by operating the selection button 77A of the walking mode indicating unit 77. Then, when it is determined that the walking mode is not the "normal mode", that is, when it is determined that the selection button 77A of the walking mode indicating unit 77 is not operated (SB706: NO), the control device 40 determines the step SB707. Proceed to the process of.

In step SB707, the control device 40 reads out the "rhythm start flag" indicating that the output of the periodic sound is started as the walking rhythm sound from the storage device 44, and determines whether or not it is set to "OFF". Then, when it is determined that the rhythm start flag is set to "ON" (SB707: NO), the control device 40 ends (returns) the process. On the other hand, if it is determined that the rhythm start flag is set to "OFF" (SB707: YES), the control device 40 proceeds to step SB708. In step SB708, the control device 40 reads the operation mode from the storage device 44 and determines whether or not the operation mode is the arm swing mode.

Then, when it is determined that the operation mode is the arm swing mode (SB708: YES), the control device 40 proceeds to the process in step SB709. On the other hand, when it is determined that the operation mode is not the arm swing mode, that is, when it is determined that the operation mode is the hand push mode (SB708: NO), the control device 40 proceeds to the process in step SB710.

When the process proceeds to step SB709, the control device 40 reads the right rear end position flag from the storage device 44 and determines whether or not it is set to “ON”. Then, when it is determined that the right rear end position flag is set to "OFF" (SB709: NO), the control device 40 ends (returns) the process. On the other hand, when it is determined that the right rear end position flag is set to "ON" (SB709: YES), the control device 40 proceeds with the process in step SB711 described later.

Further, when the processing is advanced to step SB710, the control device 40 reads out the acceleration at the time of the previous processing and the acceleration at the time of the current processing from the storage device 44, and the acceleration at the time of the previous processing (previous acceleration) = negative. It is determined whether or not (less than 0) and the acceleration during the current processing (current acceleration) = positive (0 or more). Then, when it is determined that the acceleration at the time of the previous processing (previous acceleration) = negative (less than 0) and the acceleration at the time of the current processing (current acceleration) = positive (0 or more) is not (SB710: NO), the control device. 40 ends (returns) the process. That is, the control device 40 determines that the heel of the user's left foot or the heel of the user's right foot is not in contact with the ground, and ends (returns) the process.

On the other hand, when it is determined that the acceleration during the previous processing (previous acceleration) = negative (less than 0) and the acceleration during the current processing (current acceleration) = positive (0 or more) (SB710: YES), control is performed. The device 40 proceeds to the process of step SB711. That is, the control device 40 determines that the heel of the user's left foot or the heel of the user's right foot has touched the ground, and proceeds to the process of step SB711.

In step SB711, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is “walking mode 1”. Then, when it is determined that the walking mode is "walking mode 1" (SB7111: YES), the control device 40 proceeds to the process of step SB712.

In step SB712, the control device 40 reads the walking cycle TB [seconds / step] from the storage device 44, and stores the value obtained by multiplying the walking cycle TB by "0.97" as the "target walking cycle TS". After storing in the device 44, the process proceeds to the process of step SB716 described later. That is, when the walking mode is set to "walking mode 1", the target walking cycle TS is set to be shorter than the walking cycle TB by "3%" (predetermined first ratio). In addition, it is not limited to "3%", and may be set to be shortened by an arbitrary ratio (predetermined first ratio) of, for example, 2% to 10%.

On the other hand, when it is determined that the walking mode is not "walking mode 1" (SB7111: NO), the control device 40 proceeds to the process of step SB713. In step SB713, the control device 40 reads the walking mode from the storage device 44 and determines whether or not the walking mode is “walking mode 2”. Then, when it is determined that the walking mode is "walking mode 2" (SB713: YES), the control device 40 proceeds to the process of step SB714.

In step SB714, the control device 40 reads the walking cycle TB [seconds / step] from the storage device 44, stores the walking cycle TB as the “target walking cycle TS” in the storage device 44, and then performs the process of step SB716 described later. move on. That is, when the walking mode is set to "walking mode 2", the target walking cycle TS is set to have the same cycle as the walking cycle TB.

On the other hand, when it is determined that the walking mode is not "walking mode 2" (SB713: NO), the control device 40 determines that the walking mode is "walking mode 3" and proceeds to the process of step SB715. In step SB715, the control device 40 reads the walking cycle TB [seconds / step] from the storage device 44, and stores the value obtained by multiplying the walking cycle TB by "1.03" as the "target walking cycle TS". After storing in the device 44, the process proceeds to step SB716. That is, when the walking mode is set to "walking mode 3", the target walking cycle TS is set to be longer than the walking cycle TB by "3%" (predetermined third ratio). In addition, it is not limited to "3%", and may be set to be longer by an arbitrary ratio (predetermined third ratio) of, for example, 2% to 10%.

In step SB716, the control device 40 reads the target walking cycle TS [seconds / step] from the storage device 44, and sets a periodic sound (for example, a metronome having a constant cycle) equal to the target walking cycle TS via the speaker 66. After starting the output of the tempo sound of the instrument, the rhythm sound of the musical instrument, the shout, etc.), the process proceeds to step SB717. That is, the control device 40 teaches the user the timing of walking with a cycle equal to the target walking cycle TS [seconds / step] by the periodic sound.

As a result, in the hand-push mode, the user walks so that only the heel of the right foot (or the heel of the left foot) is grounded in accordance with the periodic sound notified via the speaker 66, thereby performing the target. It becomes easier to take the timing of walking so that the walking cycle becomes the walking cycle TS [seconds / step]. Further, in the arm swing mode, the user touches only the heel of the left foot (or the heel of the right foot) to the ground in accordance with the periodic sound notified via the speaker 66, and the user touches the right arm (or the left arm). By walking while swinging only one to the rear end, it becomes easier to take the timing of walking so that the walking cycle has the target walking cycle TS [seconds / step]. Here, the control device 40 executing the process of step SB716 functions as an example of the periodic sound setting unit.

For example, in step SB716, the control device 40 reads the target walking cycle TS [seconds / steps] from the storage device 44, and through the speaker 66, the cycle is 1/2 of the target walking cycle TS [seconds / steps]. After starting the output of the periodic sound set in (for example, the tempo sound of the metronome having a constant cycle, the rhythm sound of the musical instrument, the shout, etc.), the process of step SB717 may proceed.

As a result, in the hand-push mode, the user walks so as to alternately touch the heels of the right foot and the heels of the left foot in accordance with the periodic sound notified via the speaker 66, whereby the target walking cycle TS It becomes easier to take the timing of walking so that the walking cycle is [seconds / steps]. Further, in the arm swing mode, the user alternately touches the heel of the left foot and the heel of the right foot to the ground in accordance with the periodic sound notified via the speaker 66, and alternately touches the right arm and the left arm to the rear end. By walking in a swinging manner, it becomes easier to take the timing of walking so that the walking cycle has the target walking cycle TS [seconds / step].

In step SB717, the control device 40 reads out from the storage device 44 a “rhythm start flag” indicating that the output of the periodic sound set to the cycle equal to the target walking cycle TS has started via the speaker 66, and starts this rhythm. After setting the flag to "ON" and storing the data in the storage device 44 again, the process ends (returns). At the time of activation, the control device 40 sets the rhythm start flag to "OFF" and stores it in the storage device 44.

On the other hand, when it is determined in the process of step SB706 that the walking mode is the "normal mode", that is, when it is determined that the selection button 77A of the walking mode indicator 77 has been operated (SB706: YES), control is performed. The device 40 proceeds to the process of step SB718. In step SB718, the control device 40 stops the output of the speaker 66, ends the output of the periodic sound, and then proceeds to the process of step SB719.

In step SB719, the control device 40 reads the rhythm start flag from the storage device 44, sets the rhythm start flag to “OFF”, stores the rhythm start flag in the storage device 44 again, and then proceeds to the process of step SB720. In step SB720, the control device 40 reads the walking cycle flag indicating that the walking cycle TB has been acquired from the storage device 44, sets the walking cycle flag to “OFF”, and stores the walking cycle flag in the storage device 44 again. , End (return) the process.

Here, the control device 40 functions as an example of a travel control device, a walking state acquisition device, a target walking state setting device, and a teaching control device. The speaker 66 functions as an example of the notification device. The operation panel 70 functions as an example of the switching setting device.

● [Effect of the present application]
As described in detail as described above, in the walking support device 10 described in the present embodiment, the user operates the selection button 77B of the walking mode instruction unit 77 of the operation panel 70 to "walk mode 1". By selecting the walking support mode of, the speed of the walking support device 10 can be increased by about 3% (predetermined second ratio) as compared with the normal mode. Further, a periodic sound equal to the cycle of the target walking cycle TS, which is shorter than the normal walking cycle TB by about 3% (predetermined first ratio), is output (taught) through the speaker 66.

As a result, the stride length [cm] of the user increases by about 3% according to the vehicle speed. In addition, the user walks so that the heel of the left foot touches the ground in accordance with a periodic sound equal to the cycle of the target walking cycle TS, which is about 3% shorter than the normal walking cycle TB. / Minute] increases by about 3%.

As a result, after selecting the walking support mode of "walking mode 1", the user grasps each of the handles 20L and 20R and walks so as to touch the heel of the left foot in accordance with the periodic sound. Both the walking rate [steps / minute] and the stride length [cm] increase, and walking training that increases the walking speed [m / minute] can be performed, and the walking ability can be improved. Further, by operating the arm swing mode indicator 74, the user grasps each of the handles 20L and 20R, straightens the trunk, and performs walking training while swinging the arm in accordance with the periodic sound. It is possible to effectively improve walking ability.

Further, the user operates the selection button 77C of the walking mode instruction unit 77 of the operation panel 70 to select the walking support mode of the "walking mode 2", thereby increasing the speed of the walking support device 10 by about 3% (). It can be made faster than in the normal mode by a predetermined second ratio). Further, a periodic sound having a cycle equal to the normal walking cycle TB is output (taught) through the speaker 66.

As a result, the stride length [cm] of the user increases by about 3% according to the vehicle speed. In addition, the user walks so that the heel of the left foot touches the ground in accordance with a periodic sound having a cycle equal to the normal walking cycle TB, so that the walking rate [steps / minute] of the user remains the same and the stride length. [Cm] increases by about 3%.

As a result, after selecting the walking support mode of "walking mode 2", the user grasps each of the handles 20L and 20R and walks so as to touch the heel of the left foot in accordance with the periodic sound. While maintaining the walking rate [steps / minute], walking training can be performed by slightly widening the stride length [cm] to increase the walking speed [m / min], and the walking ability can be improved. Further, by operating the arm swing mode indicator 74, the user grasps each of the handles 20L and 20R, straightens the trunk, and performs walking training while swinging the arm in accordance with the periodic sound. It is possible to effectively improve walking ability.

Further, the user operates the selection button 77D of the walking mode indicating unit 77 of the operation panel 70 to select the walking support mode of the "walking mode 3", thereby changing the speed of the walking support device 10 to the speed of the normal mode. Can be the same speed as. Further, a periodic sound equal to the cycle of the target walking cycle TS, which is about 3% (predetermined third ratio) longer than the normal walking cycle TB, is output (taught) through the speaker 66.

As a result, the user's stride length [cm] is obtained by walking so that the heel of the left foot touches the ground in accordance with a periodic sound equal to the cycle of the target walking cycle TS, which is about 3% longer than the normal walking cycle TB. ] Will increase by about 3%.

As a result, after selecting the walking support mode of "walking mode 3", the user grasps each of the handles 20L and 20R and walks in accordance with the periodic sound so that the heel of the left foot touches the ground. The walking speed [m / min] is the same, and walking training with a slightly wider stride [cm] can be performed, and walking ability can be improved. Further, by operating the arm swing mode indicator 74, the user grasps each of the handles 20L and 20R, straightens the trunk, and performs walking training while swinging the arm in accordance with the periodic sound. It is possible to effectively improve walking ability.

In addition, the user operates the selection button 77A of the walking mode indicating unit 77 of the operation panel 70 to select the walking support mode of the "normal mode", and also operates the arm swing mode indicating unit 74 to perform each operation. By grasping the handles 20L and 20R, it is possible to simulate a walking motion of swinging an arm. Therefore, the user can perform walking training in which the trunk is straightened and walking while swinging the arms. As a result, the user can appropriately perform high-quality walking training in which the user walks while swinging his / her arms correctly in synchronization with the movement of the legs.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various improvements, modifications, additions, and deletions can be made without departing from the gist of the present invention. Further, in the above-described embodiment, the above (≧), the following (≦), the larger (>), the less than (<), and the like may or may not include the equal sign. Moreover, the numerical value used in the explanation of the said Embodiment is an example, and is not limited to this numerical value. In the following description, the same reference numerals as the configuration and the like of the walking support device 10 according to the embodiment of FIGS. 1 to 25 indicate the same or equivalent parts as the configuration and the like of the walking support device 10 according to the embodiment. Is.

[Other First Embodiment]
(A) For example, the control device 40 travels in the storage device 44 in any one of "walking mode 1", "walking mode 2", and "walking mode 3" in a "target teaching mileage" (for example). , 50m-300m) may be stored in advance. Further, when the control device 40 travels in any of the walking modes of "walking mode 1", "walking mode 2", and "walking mode 3", the control device 40 detects from each of the traveling speed detection devices 64LE and 64RE. The mileage L from the start of travel may be detected by the signal.

Further, the control device 40 may determine whether or not the mileage L has reached the target teaching mileage. Then, when it is determined that the mileage L has reached the target teaching mileage, the control device 40 stops the mileage drive devices 64L and 64R, and controls the walking support device 10 to stop. May be good. As a result, the user can use the walking support device 10 in any of the walking modes of "walking mode 1", "walking mode 2", and "walking mode 3" to perform walking training. It can be easily determined that the target teaching mileage has been reached, and it can be easily determined whether or not to continue walking training. In addition, since the walking support device 10 is stopped, the user can easily reexamine the content of the walking training.

Here, the storage device 44 functions as an example of the target teaching mileage storage device. The traveling speed detection devices 64LE and 64RE and the control device 40 function as an example of the mileage detection device. The control device 40 functions as an example of the mileage determination device.

[Other Second Embodiment]
(B) Further, for example, the control device 40 uses the speaker 66 in step SB716 to set a periodic sound (for example, a tempo sound of a metronome having a fixed period, a rhythm sound of a musical instrument) set to a period equal to the target walking cycle TS. , Screaming, etc.), the process of steps SB210 to SB220 may be executed again to calculate the walking cycle TB.

Then, the control device 40 may evaluate the walking state during the walking training of the user based on the degree of coincidence of the walking cycle TB with the target walking cycle TS. Further, the control device 40 may display the evaluation result of the walking state during the walking training of the user on the operation panel 70 and notify the user by voice output via the speaker 66. As a result, the user can quickly obtain an evaluation of the walking training and easily reexamine the content of the walking training.

The control device 40 may evaluate the walking state of the user during walking training based on the number of achievements in which the degree of coincidence of the walking cycle TB with respect to the target walking cycle TS is equal to or greater than a predetermined value. Further, the control device 40 counts the number of achievements in which the degree of coincidence of the walking cycle TB with respect to the target walking cycle TS becomes equal to or higher than a predetermined value, and the walking training of the user is based on the ratio of the number of achievements to the total number of evaluations (achievement rate). The walking state in the inside may be evaluated.

Here, the control device 40 functions as an example of the teaching walking state acquisition device and the walking state evaluation device. The operation panel 70 and the speaker 66 function as an example of the output device.

[Other Third Embodiment]
(C) Further, for example, the control device 40 stores the walking cycle TB (walking state information) calculated in step SB219 in the walking state storage unit 44A (see FIG. 13) of the storage device 44, and the user ID, date, and date. It may be stored in time series together with the time, the traveling speed, the acceleration (walking state information), and the like. The user ID may be input in advance by the user via the ID input screen provided on the operation panel 70 before starting the walking training. Here, the storage device 44 functions as an example of the walking state information storage device.

Then, in step SB712, step SB714, and step SB715, the control device 40 stores the latest predetermined number, for example, the latest five walking cycle TBs (walking state information) corresponding to the user ID of the user. ) Is read from the walking state storage unit 44A. Subsequently, the control device 40 calculates the latest average value of a predetermined number of walking cycle TBs, and uses the average value as the walking cycle TB to calculate the target walking cycle TS (target walking state). Good. As a result, the control device 40 can calculate the average value of the walking cycle TB for the past predetermined number of times corresponding to the user ID of the user, and set the target walking cycle TS using the average value. The walking cycle TS can be optimized.

The control device 40 does not show the walking cycle TB (walking state information) calculated in step SB219 to the server on the network together with the user ID, date and time, traveling speed, acceleration (walking state information), and the like. It may be transmitted via the communication device of the above and stored in time series. Then, in step SB712, step SB714, and step SB715, the control device 40 acquires the walking cycle TB corresponding to the user ID of the user for the past predetermined number of times from the server via a communication device (not shown). May be good. Subsequently, the control device 40 may calculate the average value of the walking cycle TB for the past predetermined number of times corresponding to the user ID of the user, and set the target walking cycle TS using the average value.

[Other Fourth Embodiment]
(D) Further, for example, in the step SBA25A, the control device 40 stores the right front and rear positions of the right handle in the "right front end position", and then reads out the "right front end position" again to read the "handle reference position (D). The shaft reference position) -right front end position "may be obtained and stored in the storage device 44 as the" right rear deviation amount ". Then, the control device 40 may determine whether or not the "right rear deviation amount" is a length of a predetermined length (for example, 50 mm) or more.

Then, when it is determined that the "right rear deviation amount" is a length of a predetermined length (for example, 50 mm) or more, the control device 40 stops the driving devices 64L and 64R for walking to support walking. The device 10 may be controlled to stop. On the other hand, if it is determined that the "right rear deviation amount" is a length less than a predetermined length (for example, 50 mm), the control device 40 may proceed to the process of the step SBA 30.

Further, for example, in the step SBB25A, the control device 40 stores the left front / rear position in the "left front end position", then reads out the "left front end position" again, and reads the "handle reference position (shaft reference position). ) -The "left front end position" may be obtained and stored in the storage device 44 as the "left rear deviation amount". Then, the control device 40 may determine whether or not the "left rearward deviation amount" is a length of a predetermined length (for example, 50 mm) or more.

Then, when it is determined that the "left rear deviation amount" is a length of a predetermined length (for example, 50 mm) or more, the control device 40 stops the driving devices 64L and 64R for walking to support walking. The device 10 may be controlled to stop. On the other hand, if it is determined that the "left rear deviation amount" is less than a predetermined length (for example, 50 mm), the control device 40 may proceed to the process of step SBB30.

As a result, when the user is performing walking training using the walking support device 10 in any of the walking modes of "walking mode 1", "walking mode 2", and "walking mode 3". When it becomes difficult to walk following the walking support device 10, the walking support device 10 stops, so that a fall can be prevented. In addition, since the walking support device 10 is stopped, the user can easily reexamine the content of the walking training.

[Other Fifth Embodiment]
(E) Further, for example, the operation panel 70 may be provided with a "weak selection button", a "medium selection button", and a "strong selection button" that are operated to change the intensity of walking training. Then, when the "weak selection button" is operated, the control device 40 makes the right target speed and the left target speed faster by, for example, "3%" (predetermined second ratio) in the step SB614. After setting to do so, the process of step SB620 may proceed.

Further, the control device 40 sets the target walking cycle TS to be shorter than the walking cycle TB by "3%" (predetermined first ratio) in the step SB712, and then proceeds to the process of the step SB716. You may try to do it. Further, the control device 40 sets the target walking cycle TS to be longer than the walking cycle TB by "3%" (predetermined third ratio) in the step SB715, and then proceeds to the process of the step SB716. You may try to do it.

When the "middle selection button" is operated, the control device 40 increases the right target speed and the left target speed by, for example, "5%" (predetermined second ratio) in step SB614. After setting to do so, the process of step SB620 may proceed. Further, the control device 40 sets the target walking cycle TS to be shorter than the walking cycle TB by "5%" (predetermined first ratio) in the step SB712, and then proceeds to the process of the step SB716. You may try to do it. Further, the control device 40 sets the target walking cycle TS to be longer than the walking cycle TB by "5%" (predetermined third ratio) in the step SB715, and then proceeds to the process of the step SB716. You may try to do it.

When the "strong selection button" is operated, the control device 40 speeds up the right target speed and the left target speed by, for example, "8%" (predetermined second ratio) in step SB614. After setting to do so, the process of step SB620 may proceed. Further, the control device 40 sets the target walking cycle TS to be shorter than the walking cycle TB by "8%" (predetermined first ratio) in the step SB712, and then proceeds to the process of the step SB716. You may try to do it. Further, the control device 40 sets the target walking cycle TS to be longer than the walking cycle TB by "8%" (predetermined third ratio) in the step SB715, and then proceeds to the process of the step SB716. You may try to do it.

As a result, when walking training is performed using the walking support device 10 in any of the walking modes of "walking mode 1", "walking mode 2", and "walking mode 3", the user or physical therapy By operating the "weak selection button", "medium selection button", and "strong selection button", the physiotherapist can change the intensity of walking training according to the walking ability of the user, and the walking ability is effective. Can be improved. The above 3% to 8% is an example, and may be changed to any ratio.

[Other Sixth Embodiment]
(F) Further, for example, in the above-described embodiment, the operation units 31L and 31R of the lock mechanism are operated to switch between the "locked state" and the "released state". The 31R may be fixed in the "locked state". That is, the walking support device 10 may be configured so that it can be used only in the "hand push mode" in which the left and right handles 20L and 20R or the grips 18L and 18R are gripped and walked without shaking the arm. In this case, the operation panel 70 is not provided with the "arm swing mode indicator 74" and the "hand push mode indicator 75", and the control device 40 sets the switching mode to the "hand push mode" at startup. You may set it. That is, the control device 40 may always execute a process of storing the "hand-push mode" in the "operation mode" instead of the process of steps SB050 to SB070B (see FIG. 15).

As a result, in the SB200 (walking cycle acquisition process) executed by the control device 40 in step S020, the control device 40 always has step SB210: NO to step SB230 to step SB235 to step SB215 to step SB221 (see FIG. 17). ) Is executed. That is, the control device 40 acquires the walking cycle TW1 (see FIG. 22) of the user based on the change in the traveling speed of the walking support device 40, and calculates the walking cycle TB of the user (see FIG. 17). ..

As a result, the control device 40 sets the target walking cycle TS for each walking mode 1 to 3, and sets the periodic sound (for example, the metronome of a constant cycle) set to the cycle equal to the target walking cycle TS via the speaker 66. It is possible to output tempo sounds, rhythm sounds of musical instruments, shouts, etc. (see FIG. 21). Further, the control device 40 sets the traveling speed for each walking mode 1 to 3, that is, the traveling speed according to the target walking cycle TS for each walking mode 1 to 3, and drives the driving devices 64L and 64R for each traveling. It can be controlled (see FIG. 20).

Therefore, the user grips each handle 20L, 20R, or each grip 18L, 18R by selecting any one of the walking support modes from "walking mode 1" to "walking mode 3". In the "hand-push mode", walking can be performed to improve the walking rate [steps / minute] and stride length [cm] by walking so that the heel of the left foot or right foot touches the ground according to the periodic sound. Ability can be improved.

[Other Seventh Embodiment]
(G) Further, for example, in the above embodiment, an example in which the walking support device 10 having a plurality of wheels is provided with two driving wheels as a four-wheeled vehicle has been described, but the walking support device 10 is provided with one front wheel and one rear wheel. A two-wheeled tricycle may be used, with the front wheels as drive wheels and the rear two wheels as caster wheels. That is, the walking support device 10 may have at least one drive wheel. Further, in the description of the above-described embodiment, an example of adjusting the "traveling speed" in the control of the traveling drive devices (electric motors) 64L and 64R has been described, but the control of the "torque" is not limited to the control of the "speed". This may be done, or the motor torque may be controlled to adjust the traveling speed.

[Other Eighth Embodiment]
(H) Further, for example, the handle state detecting devices 21RS and 21LS for detecting the states (positions) of the respective handles 20R and 20L and the traveling speed detecting devices 64LE and 64RE for detecting the traveling speed are limited to the encoder. It is not limited to the configuration and arrangement shown in the above embodiment, and various configurations and arrangements can be used. Further, an example in which the shaft side elastic member 26R and the tubular portion side elastic member 35R1 (see FIG. 8) are used as the shaft position restoration device has been described, but the shaft position restoration device is not limited to this.

[Other 9th Embodiment]
(I) Further, for example, in the above steps SB211 to SB212, the control device 40 has acquired the time T1 in which the right handle 20R is located at the right rear end position, but the control device 40 has the right handle 20R on the right. The time T1 located at the front end position may be acquired. Further, the control device 40 may acquire the time T1 at which the right handle 20R is located at the shaft reference position.

Further, the control device 40 may acquire the time T1 in which the left handle 20L is located at the left rear end position. Further, the control device 40 may acquire the time T1 in which the left handle 20L is located at the left front end position. Further, the control device 40 may acquire the time T1 at which the left handle 20L is located at the shaft reference position. As a result, the control device 40 can acquire the measured walking cycle TW1 of the user based on the arm swing state (handle state) in the step SB213.

[Other Tenth Embodiment]
(J) Further, for example, in the description of the above-described embodiment, an example of adjusting the traveling speed by using the ground speed correction amount and the center position speed correction amount has been described, but the ground speed correction is omitted by omitting the center position speed correction amount. The traveling speed may be adjusted by the amount, or the traveling speed may be adjusted by the center position speed correction amount by omitting the ground speed correction amount. Further, in the description of the above embodiment, an example in which the ground speed correction amount is reduced as the traveling speed increases is described, but the present invention is not limited to this.

[Other 11th Embodiment]
(K) Further, for example, a pull-out prevention structure (pull-out prevention member 25R, pull-out prevention panel 36R (see FIG. 11)) for preventing the shafts 21L and 21R from coming off the tubular portions 30L and 30R, and shafts 21L and 21R are cylinders. The rotation prevention structure (guide rail 32R, guided member 24R (see FIG. 4)) that prevents rotation within the shaped portions 30L and 30R can have various structures, and will be described in the above embodiment. It is not limited to the structure.

10 Walking support device 20L, 20R Handle 21L, 21R Shaft 21LS, 21RS Handle state detection device 21R1 Handle fitting hole 21R2 Lock hole 24R Guided member (rotation prevention structure)
25R pull-out prevention member (pull-out prevention structure)
26R Shaft side elastic member (Shaft position restoration device)
30L, 30R Cylindrical part 30R1 Hole part 31L, 31R Lock operation part 31R1 Slider 31R2 Swing member 31R3 Lock protrusion 31R4 Elastic member 32R Guide rail (rotation prevention structure)
33R Guide roller 34R Lid 35R1 Cylindrical side elastic member (Shaft position restoration device)
35R2 Color 35R3 Damper 35R4 Elastic Unit 36R Removal Prevention Panel (Removal Prevention Structure)
40 Control device 40A Device ground speed calculation unit 40B Handle front / rear position calculation unit 40C Handle movement speed calculation unit 40D Handle ground speed calculation unit 40E Ground speed correction amount calculation unit 40F Travel speed adjustment unit 40G Handle front / rear center position calculation unit 40H Central position Velocity correction amount calculation unit 44 Storage device 50 Frame 50K Bag 50S 3-axis acceleration / angular velocity sensor 51L, 51R Cylindrical part support 52L, 52R Wheel support 53 Connecting body 60FL, 60FR Front wheel 60RL, 60RR Rear wheel (drive) ring)
64L, 64R Travel drive device (electric motor)
64LE, 64RE Progress speed detector 66 Speaker 70 Operation panel 72 Main switch 73 Battery level display 74 Arm swing mode indicator 75 Hand push mode indicator 76 Drive torque adjustment unit B Battery BKL Brake lever Pmc Handle front / rear center position PmL, PmR Handle front / rear position Ps Virtual front / rear reference position W1 Front / rear regulation range

Claims (15)

With the frame
A plurality of wheels including at least one drive wheel provided on the frame, and
A traveling drive device that drives the drive wheels,
A travel control device that controls the travel drive device,
A walking state acquisition device that acquires walking state information regarding the walking state of the user for a predetermined time, and
A target walking state setting device that sets a target walking state in which the walking state of the user is improved based on the walking state information acquired by the walking state acquisition device.
A teaching control device that controls the target walking state to be taught to the user,
With
The travel control device controls the travel drive device based on the target walking state.
Walking support device. In the walking support device according to claim 1,
Equipped with a notification device that notifies the user of the timing of walking
The walking state information includes a walking cycle.
The target walking state includes a target walking cycle set based on the walking cycle.
The teaching control device controls to teach the walking timing based on the target walking cycle via the notification device.
Walking support device. In the walking support device according to claim 2,
The teaching control device is
It has a periodic sound setting unit that sets a periodic sound based on the target walking cycle.
The periodic sound set by the periodic sound setting unit is controlled to be notified to the user via the notification device.
Walking support device. In the walking support device according to any one of claims 1 to 3.
A switching setting device for switching between a teaching walking mode that teaches the target walking state to the user and a normal walking mode that does not set the target walking state is provided.
After being switched to the teaching walking mode by the switching setting device, the walking state acquisition device provides the walking state information regarding the walking state of a user who has walked for the predetermined time, the predetermined moving distance, or the predetermined walking cycle. To get,
Walking support device. The walking support device according to any one of claims 1 to 4.
A pair of left and right handles that are gripped by the user and can be moved in the front-back direction of the frame, which is the front-back direction with respect to the frame.
Each handle state detection device that detects the state of each of the handles, and
With
The walking state acquisition device is
It has a walking cycle acquisition unit that acquires the walking cycle of the user based on each of the handle states detected based on the detection signal from each of the handle state detection devices.
The target walking state setting device is
Based on the walking cycle, a target walking cycle to be taught to the user as the target walking state is set.
The teaching control device controls the target walking cycle so as to teach the user.
The travel control device controls the travel drive device based on the target walking cycle.
Walking support device. In the walking support device according to claim 5,
A pair of left and right shafts that are fixed to each of the handles and extend in the front-rear direction of the frame,
A pair of left and right tubular portions that extend in the front-rear direction of the frame and accommodate each of the shafts so as to be movable in the front-rear direction of the frame and are attached to the frame.
With
Each of the shafts is set with a shaft reference position, which is a reference position in the front-rear direction of the frame with respect to the tubular portion accommodating the shaft.
The handle state detection device is
The repeated arrival time of the shaft to the shaft reference position, the front end position, or the rear end position is detected.
The walking cycle acquisition unit
Acquire the walking cycle of the user based on the repeated arrival time.
Walking support device. In the support device according to claim 6,
A traveling speed detecting device for detecting the traveling speed of the driving wheels is provided.
Each of the tubular portions is in a locked state in which the shaft is held in the front-rear regulation range in the front-rear direction of the frame so as to be close to the shaft reference position, and the frame exceeds the front-rear regulation range in the front-rear direction of the frame. It has a lock mechanism that can be switched between a release state that allows the shaft to move in the front-rear direction and a lock mechanism.
When each of the lock mechanisms is switched to the locked state, the walking cycle acquisition unit is based on the periodic speed change of the traveling speed of the driving wheels detected by the traveling speed detecting device. Acquire the walking cycle of the user,
Walking support device. The walking support device according to any one of claims 1 to 4.
A traveling speed detecting device for detecting the traveling speed of the driving wheels is provided.
The walking state acquisition device is
It has a walking cycle acquisition unit that acquires the walking cycle of the user based on the periodic speed change of the traveling speed of the driving wheels detected by the traveling speed detecting device.
The target walking state setting device is
Based on the walking cycle, a target walking cycle to be taught to the user as the target walking state is set.
The teaching control device controls the target walking cycle so as to teach the user.
The travel control device controls the travel drive device based on the target walking cycle.
Walking support device. The walking support device according to any one of claims 2 to 8.
The target walking state setting device sets the target walking cycle to be shorter than the walking cycle by a predetermined first ratio.
The travel control device controls the traveling speed of the driving wheels so as to be faster by a predetermined second ratio than the traveling speed corresponding to the walking cycle.
Walking support device. The walking support device according to any one of claims 2 to 8.
The target walking state setting device sets the target walking cycle to be the same as the walking cycle.
The travel control device controls the traveling speed of the driving wheels so as to be faster by a predetermined second ratio than the traveling speed corresponding to the walking cycle.
Walking support device. The walking support device according to any one of claims 2 to 8.
The target walking state setting device sets the target walking cycle to be longer than the walking cycle by a predetermined third ratio.
The travel control device controls the traveling speed of the driving wheels so as to be the same as the traveling speed corresponding to the walking cycle.
Walking support device. The walking support device according to any one of claims 1 to 11.
A target teaching mileage storage device that previously teaches the target walking state to the user and stores the target teaching mileage to travel,
A mileage detection device that teaches the user the target walking state and detects the mileage traveled.
A mileage determination device that determines whether or not the mileage detected by the mileage detection device has reached the target teaching mileage.
With
When the mileage determination device determines that the mileage detected by the mileage detection device has reached the target teaching mileage, the mileage control device stops the mileage drive device. To control,
Walking support device. In the walking support device according to claim 12,
A teaching walking state acquisition device that acquires the walking state of the user while the target walking state is being taught to the user by the teaching control device.
A walking state evaluation device that compares and evaluates the walking state of the user acquired by the teaching walking state acquisition device and the target walking state, and a walking state evaluation device.
An output device that outputs the evaluation result by the walking state evaluation device and
To prepare
Walking support device. In the walking support device according to claim 13,
The walking state of the user acquired by the teaching walking state acquisition device includes a walking cycle.
The target walking state includes a target walking cycle.
The walking state evaluation device evaluates based on the degree of coincidence of the walking cycle with the target walking cycle, the number of achievements in which the degree of coincidence is equal to or greater than a predetermined value, or the achievement rate with respect to the total number of evaluations of the number of achievements.
Walking support device. The walking support device according to any one of claims 1 to 14.
A walking state information storage device for storing the walking state information acquired by the walking state acquisition device in time series is provided.
The target walking state setting device sets the target walking state based on the walking state information stored in the walking state information storage device in time series.
Walking support device.

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