JP2022017725A - Walking ability evaluation system - Google Patents

Abstract

To provide a walking ability evaluation system capable of saving labor required for measuring a walking ability, and rapidly starting measurement of a walking ability.SOLUTION: A walking ability evaluation system comprises: a walking training robot for supporting walking training of a user by moving with the operation of a user; a measurement instruction receiving part for receiving a measurement instruction of the walking ability of the user; a travel data acquisition part for acquiring travel data of the walking training robot moving with the operation of the user when receiving a measurement instruction via the measurement instruction receiving part; and a walking ability evaluation part for evaluating the walking ability of the user based on the travel data acquired via the travel data acquisition part.SELECTED DRAWING: Figure 1

Description

The present invention relates to a walking ability evaluation system.

Various techniques for measuring walking ability of elderly people and the like have been proposed. For example, in the walking ability test device described in Patent Document 1 below, a pair of accelerometers attached to the neck and waist of a subject via a belt or the like are wirelessly connected to each other. Then, when the subject walks on a straight walking path with a walking distance of 16 m, the inspection device acquires the first acceleration data and the second acceleration data detected by the respective accelerometers and stores them in time series. After that, the inspection device is configured to evaluate the walking ability of the subject by using the first acceleration data and the second acceleration data for 10 m in the center of the walking distance of 16 m.

Japanese Unexamined Patent Publication No. 2020-54556

However, in the walking ability testing device described in Patent Document 1, when measuring the walking ability of a subject, it is necessary to be accompanied by a person at a facility such as a physiotherapist, and the manpower of the facility is required. There is a problem of becoming. Further, since the subject needs to wear a pair of accelerometers on the neck and the waist via a belt or the like, there is a problem that the wearing work is complicated.

Therefore, the present invention has been devised in view of such a point, and it is possible to save manpower required for measuring walking ability and to start measuring walking ability promptly. The purpose is to provide a walking ability evaluation system that can be used.

In order to solve the above problems, the first invention of the present invention is a walking training robot that moves according to a user's operation to support the walking training of the user, and a measurement that receives a measurement instruction of the walking ability of the user. When the measurement instruction is received via the instruction receiving unit and the measurement instruction receiving unit, the traveling data acquisition unit that acquires the traveling data of the walking training robot that moves according to the operation of the user, and the traveling data. It is a walking ability evaluation system including a walking ability evaluation unit that evaluates the walking ability of the user based on the traveling data acquired through the acquisition unit.

Next, the second invention of the present invention is the walking ability evaluation system according to the first invention, wherein the walking ability includes a predetermined walking speed for walking on a straight walking path of a predetermined distance, and the walking training robot. Is a frame, a plurality of wheels including a pair of left and right drive wheels provided on the frame, a rotation speed detection device that detects the rotation speed of each of the pair of left and right drive wheels at predetermined time intervals, and a pair of left and right wheels. It has a pair of traveling drive devices for driving the driving wheels and a traveling control device for controlling the pair of traveling driving devices so as to move according to the operation of the user, and the traveling data is the traveling data. The walking ability evaluation unit includes time-series data of the rotation speeds of the pair of left and right drive wheels detected via the rotation speed detection device, and the walking ability evaluation unit includes time-series data of the rotation speeds of the pair of left and right drive wheels. Based on the above, a data extraction unit that extracts straight-ahead state time-series data of the respective rotation speeds of the pair of left and right drive wheels in the straight-ahead state of the walking training robot, and the rotation speeds extracted via the data extraction unit. It is a walking ability evaluation system having a walking speed calculation unit that calculates the predetermined distance walking speed based on the straight-ahead state time-series data.

Next, according to a third aspect of the present invention, in the walking ability evaluation system according to the second aspect of the present invention, the walking speed calculation unit may obtain straight-ahead state time-series data of the rotation speed extracted via the data extraction unit. Based on the above, the walking training robot has a cumulative mileage and a cumulative mileage calculation unit that accumulates the mileage and the mileage traveled when the change in the travel speed of the walking training robot is equal to or less than a predetermined speed change threshold. It is a walking ability evaluation system that calculates the predetermined walking speed by dividing the cumulative mileage by the cumulative mileage.

Next, the fourth invention of the present invention is the walking ability evaluation system according to the second invention or the third invention, in which the data extraction unit is a pair of left and right detected via the rotation speed detection device. It has a rotation speed difference determination unit for determining whether or not the difference between the rotation speeds of the drive wheels is equal to or less than a predetermined rotation speed difference threshold, and the pair of left and right drive wheels are connected via the rotation speed difference determination unit. When it is determined that the difference between the respective rotation speeds is equal to or less than the predetermined rotation speed difference threshold, the walking training robot is assumed to be in a straight-ahead state, and the walking ability evaluation system extracts the straight-ahead state time-series data of the rotation speeds. be.

Next, the fifth invention of the present invention is a case where the measurement instruction is received via the measurement instruction reception unit in the walking ability evaluation system according to any one of the second invention to the fourth invention. In addition, before the start of measurement of the walking ability, a teaching unit for teaching the walking speed-related information related to the walking speed to the user is provided, and the traveling data acquisition unit provides the user with the teaching unit via the teaching unit. On the other hand, it is a walking ability evaluation system that acquires the running data of the walking training robot after the walking speed-related information is taught.

Next, in the sixth aspect of the present invention, in the walking ability evaluation system according to the fifth aspect, the user normally uses the walking speed-related information to be taught to the user via the teaching unit. It is a walking ability evaluation system including a first teaching information for encouraging walking or a second teaching information for encouraging the user to walk as fast as possible.

Next, the seventh invention of the present invention is the walking ability evaluation system according to any one of the second invention to the sixth invention, wherein the walking training robot is substantially in the anteroposterior direction with respect to the frame. The traveling control device includes a pair of left and right grip handles that can be operated, and a pair of movement amount detection devices that detect the movement amount of each of the pair of grip handles in the front-rear direction at predetermined time intervals. Based on the time-series data of the movement amount detected via the movement amount detection device, the pair of the traveling drive devices are controlled so as to travel according to the arm swing walking holding the pair of the grip handles of the user. , It is a walking ability evaluation system.

Next, the eighth invention of the present invention is the user based on the time-series data of the movement amount detected via the pair of the movement amount detection devices in the walking ability evaluation system according to the seventh invention. The first proficiency of evaluating the user's proficiency in arm swing walking based on the arm swing information acquisition unit that acquires the arm swing information related to the arm swing and the arm swing information acquired through the arm swing information acquisition unit. Through the degree evaluation unit, the first proficiency level determination unit for determining whether or not the proficiency level evaluated through the first proficiency level evaluation unit has reached a predetermined first criterion, and the first proficiency level determination unit. When it is determined that the proficiency level has reached the predetermined first criterion, the operation change for urging the user to change the movement of the arm swing walking before starting the measurement of the walking ability. It is a walking ability evaluation system provided with a motion teaching unit for teaching information.

Next, a ninth aspect of the present invention is the walking ability evaluation system according to the seventh aspect of the present invention, in which the user's arm swing walking is performed based on the predetermined distance walking speed calculated via the walking speed calculation unit. A second proficiency evaluation unit that evaluates proficiency, a second proficiency determination unit that determines whether or not the proficiency evaluated via the second proficiency evaluation unit has reached a predetermined second criterion, and the above. When it is determined through the second proficiency level determination unit that the proficiency level has reached a predetermined second criterion, the movement of the arm swing walking is changed for the user before the measurement of the walking ability is started. It is a walking ability evaluation system provided with a motion teaching unit that teaches motion change information that encourages walking.

Next, the tenth invention of the present invention is the driving wheel based on the straight-ahead state time-series data of the rotation speed extracted through the data extraction unit in the walking ability evaluation system according to the seventh invention. A rotation information acquisition unit that acquires rotation information related to the rotation speed of the user, and a third proficiency evaluation unit that evaluates the user's proficiency level in arm swing walking based on the rotation information acquired via the rotation information acquisition unit. The third proficiency level determination unit for determining whether or not the proficiency level evaluated through the third proficiency level evaluation unit has reached a predetermined third criterion, and the proficiency level determination unit via the third proficiency level determination unit. When it is determined that the data has reached the predetermined third criterion, the user is instructed to change the movement of the arm-swinging walking and to urge the user to walk before starting the measurement of the walking ability. It is a walking ability evaluation system equipped with a motion teaching unit.

According to the first invention, when a person in a facility such as a physical therapist receives a measurement instruction of a user's walking ability through a measurement instruction reception unit, the user operates the vehicle via a driving data acquisition unit. The running data of the walking training robot that moves is acquired. Then, the walking ability evaluation unit evaluates the walking ability of the user based on the acquired running data. Therefore, when measuring the walking ability of the user, a person in a facility such as a physical therapist simply inputs the measurement instruction through the measurement instruction reception unit, and then the user operates the walking training robot. If you walk, you can measure the walking ability of the user.

As a result, it is not necessary for a person in a facility such as a physiotherapist to accompany the measurement while measuring the walking ability of the user, and it is possible to save manpower required for measuring the walking ability. In addition, when measuring the walking ability of a user, after a person at a facility such as a physiotherapist inputs a measurement instruction via the measurement instruction reception unit, the user starts operating the walking training robot to walk. Since it is only necessary to start, the measurement of walking ability can be started quickly.

According to the second invention, the rotation speed of each of the pair of left and right drive wheels of the walking training robot is detected by the rotation speed detection device at predetermined time intervals. Then, the traveling data acquisition unit acquires time-series data of the rotation speeds of each of the pair of left and right drive wheels detected via the rotation speed detection device. Further, the walking ability evaluation unit obtains straight-ahead state time-series data of the respective rotation speeds of the pair of left and right drive wheels in the straight-ahead state of the walking training robot based on the time-series data of the respective rotation speeds of the pair of left and right drive wheels. Extract. Then, the walking ability evaluation unit calculates a predetermined distance walking speed at which the user walks on a straight walking path of a predetermined distance based on the extracted straight-ahead state time-series data of the number of rotations.

Here, there is a problem that it may be difficult to provide a straight walking path having a walking distance of 16 m or more in the measurement room depending on the facility. Therefore, according to the second invention, even if only a straight walking path having a walking distance shorter than 16 m (for example, about 3 m to 9 m) can be set in the measurement chamber, the straight walking path with this short distance is included. Set a lap course. Then, the user uses the walking training robot to walk a plurality of laps (for example, 5 laps) in succession on this lap course, so that the walking ability evaluation unit can perform each of the pair of left and right drive wheels of the walking training robot. It is possible to acquire time-series data of the number of rotations of.

As a result, the walking ability evaluation unit can extract the straight-ahead state time-series data of the rotation speeds of the pair of left and right drive wheels in the straight-ahead state of the walking training robot. Then, the walking ability evaluation unit calculates a predetermined distance walking speed (for example, 10 m walking speed) in which the user walks on a straight walking path of a predetermined distance (for example, 16 m) based on the straight-ahead state time-series data of the rotation speed. can do. As a result, even when only a straight walking path with a walking distance shorter than 16 m can be set in the measurement room, the walking speed of the user can be calculated and the walking ability can be evaluated, and the walking ability can be measured. It is possible to save space in the size of the measurement room required for the above.

According to the third invention, the walking speed calculation unit has traveled a distance and a traveling time when the change in the traveling speed of the walking training robot is equal to or less than a predetermined speed change threshold based on the straight-ahead state time-series data of the rotation speed. Calculate the cumulative mileage and cumulative mileage. As a result, the walking ability evaluation unit calculates the cumulative mileage and the cumulative mileage traveled at almost constant speed when the walking training robot travels on a straight walking path, and divides this cumulative mileage by the cumulative mileage. Then, the walking speed for a predetermined distance is calculated. As a result, even if the walking ability evaluation unit walks on a straight walking path having a walking distance shorter than 16 m (for example, about 3 m to 9 m) multiple times and calculates a predetermined distance walking speed, the walking ability is highly accurate. It becomes possible to evaluate.

According to the fourth invention, when the data extraction unit determines that the difference in the rotation speeds of the pair of left and right driving wheels is equal to or less than the predetermined rotation speed difference threshold, the walking training robot is in a straight-ahead state. The straight-ahead state time-series data of each rotation speed of the pair of left and right drive wheels is extracted. As a result, the walking ability evaluation unit can accurately extract the straight-ahead state time-series data of the rotation speeds of each of the pair of left and right drive wheels when the walking training robot travels on a straight walking path. As a result, even if the walking ability evaluation unit walks on a straight walking path having a walking distance shorter than 16 m (for example, about 3 m to 9 m) multiple times and calculates a predetermined distance walking speed, the walking ability is highly accurate. It becomes possible to evaluate.

According to the fifth invention, before the measurement of walking ability is started, the teaching unit teaches the user the walking speed-related information related to the walking speed. Then, the running data acquisition unit acquires the running data of the walking training robot after the walking speed-related information is taught to the user via the teaching unit. As a result, the traveling data acquisition unit can acquire the traveling data of the walking training robot when the user walks according to the walking speed-related information taught through the teaching unit.

Thereby, by setting the walking speed at the time of measurement as the speed-related information, it is possible to surely teach the user the walking speed at the time of measurement before the start of measurement of the walking ability. Therefore, a person in a facility such as a physiotherapist only inputs a measurement instruction via the measurement instruction reception unit, and after that, the user can walk according to the speed-related information taught through the teaching unit. It is possible to measure the walking ability of the patient, and further labor saving required for measuring the walking ability can be achieved.

According to the sixth invention, the first teaching information for encouraging the user to walk normally is taught through the teaching unit before the measurement of the walking ability is started. As a result, the traveling data acquisition unit can acquire the traveling data of the walking training robot when the user walks at a normal walking speed as taught through the teaching unit. As a result, the walking ability evaluation unit can calculate and evaluate the so-called comfortable walking speed of the user.

Further, before the start of the measurement of walking ability, the second teaching information for urging the user to walk as fast as possible is taught through the teaching unit. As a result, the traveling data acquisition unit can acquire the traveling data of the walking training robot when the user walks at the walking speed as fast as possible as taught through the teaching unit. As a result, the walking ability evaluation unit can calculate and evaluate the so-called maximum walking speed of the user.

According to the seventh invention, the travel control device is a pair of grips of the user based on time-series data of the movement amount in the front-rear direction of each of the pair of left and right grip handles detected via the pair of movement amount detection devices. The pair of traveling drive devices are controlled so as to travel according to the arm swing walking while grasping the handle. As a result, the walking ability of the user can be evaluated by acquiring the running data of the walking training robot that runs according to the natural arm swing walking of the user, and the walking ability of the user can be evaluated with high accuracy.

According to the eighth invention, the arm swing information acquisition unit swings the arm of the user based on the time-series data of the movement amount in the front-back direction of each of the pair of grip handles detected via the pair of movement amount detection devices. Get arm swing information about. Then, the first proficiency evaluation unit evaluates the proficiency level of the user's arm swing walking based on the acquired arm swing information regarding the arm swing of the user. As a result, when it is determined that the proficiency level of the user's arm swing walking has reached the predetermined first criterion, the motion teaching unit performs the arm swing walking motion to the user before the measurement of the walking ability is started. Teach behavior change information that encourages people to change and walk.

Here, the walking training of arm swing walking, in which the left and right arms holding the pair of grip handles are alternately swung and the opposite leg is extended to walk, is dual task training. However, if the walking training robot is continuously used with the same movement of arm swinging, there is a problem that the effect of the dual task training is difficult to be improved by becoming proficient in the operation of the walking training robot.

Therefore, according to the eighth invention, when it is determined through the first proficiency level determination unit that the proficiency level of the user's arm swing walking has reached a predetermined first criterion, the user is a walking training robot. It is judged that he / she is proficient in the operation. Then, the motion teaching unit teaches motion change information that urges the user to change the motion of arm swing walking and walk before starting the measurement of walking ability. As a result, the user changes the movement of the arm swing walking according to the movement change information and walks with an unfamiliar arm swing walking movement, so that it is necessary to perform a walking movement while thinking anew, and the effect of dual task training is maintained. can do.

According to the ninth invention, the second proficiency level evaluation unit evaluates the proficiency level of the user's arm swing walking based on the predetermined distance walking speed calculated via the walking speed calculation unit. As a result, when it is determined that the proficiency level of the user's arm swing walking has reached the predetermined second criterion, the motion teaching unit performs the arm swing walking motion to the user before the measurement of the walking ability is started. Teach behavior change information that encourages people to change and walk.

Here, the walking training of arm swing walking, in which the left and right arms holding the pair of grip handles are alternately swung and the opposite leg is extended to walk, is dual task training. However, if the walking training robot is continuously used with the same movement of arm swinging, there is a problem that the effect of the dual task training is difficult to be improved by becoming proficient in the operation of the walking training robot.

Therefore, according to the ninth invention, when it is determined through the second proficiency level determination unit that the proficiency level of the user's arm swing walking has reached a predetermined second criterion, the user is a walking training robot. It is judged that he / she is proficient in the operation. Then, the motion teaching unit teaches motion change information that urges the user to change the motion of arm swing walking and walk before starting the measurement of walking ability. As a result, the user changes the movement of the arm swing walking according to the movement change information and walks with an unfamiliar arm swing walking movement, so that it is necessary to perform a walking movement while thinking anew, and the effect of dual task training is maintained. can do.

According to the tenth invention, the rotation information acquisition unit acquires rotation information regarding the rotation speed of the drive wheels based on the straight-ahead state time-series data of the rotation speed extracted through the data extraction unit. Then, the third proficiency level evaluation unit evaluates the proficiency level of the user's arm swing walking based on the acquired rotation information regarding the rotation speed of the drive wheels. As a result, when it is determined that the user's proficiency in arm-swinging walking has reached a predetermined third criterion, the motion teaching unit performs the arm-swinging walking motion to the user before starting the measurement of walking ability. Teach behavior change information that encourages people to change and walk.

Here, the walking training of arm swing walking, in which the left and right arms holding the pair of grip handles are alternately swung and the opposite leg is extended to walk, is dual task training. However, if the walking training robot is continuously used with the same movement of arm swinging, there is a problem that the effect of the dual task training is difficult to be improved by becoming proficient in the operation of the walking training robot.

Therefore, according to the tenth invention, when it is determined through the third proficiency level determination unit that the proficiency level of the user's arm swing walking has reached a predetermined third criterion, the user is a walking training robot. It is judged that he / she is proficient in the operation. Then, the motion teaching unit teaches motion change information that urges the user to change the motion of arm swing walking and walk before starting the measurement of walking ability. As a result, the user changes the movement of the arm swing walking according to the movement change information and walks with an unfamiliar arm swing walking movement, so that it is necessary to perform a walking movement while thinking anew, and the effect of dual task training is maintained. can do.

It is a perspective view explaining the schematic structure of the walking ability evaluation system which concerns on 1st Embodiment. It is a figure explaining the structure of a shaft holding part, a shaft, and a grip handle. It is a block diagram which shows the control composition of a walking training robot. It is a figure explaining the correspondence between the state of the left and right grip handles, and the operation mode of a walking training robot. It is a figure which shows an example of the fixed running mode table which memorizes the correspondence of the operation force direction of each grip handle, and the running mode when the left and right grip handles are fixed. It is a figure which shows an example of the movable running mode table which memorizes the correspondence between the arm swing amplitude and the running mode when the left and right grip handles are released. It is a figure which shows an example of the walking speed measuring room which measures 10m comfortable walking speed and 10m maximum walking speed. It is a time chart which showed an example of the change in the rotation speed and the running speed of a pair of drive wheels of a walking training robot when walking on a straight part of a measurement course. It is a block diagram which shows the control composition of a smartphone. It is a figure which shows an example of the arm swing walking movement content corresponding to each arm swing walking level taught before the measurement of the walking ability is started. It is a figure which shows an example of the display screen of a smartphone. It is a figure which shows an example of the display screen of a smartphone. It is a block diagram which shows the control configuration of a server. It is a main flowchart which shows an example of "walking training support processing" executed by the control device of a walking training robot. It is a sub-flow chart which shows an example of the sub-processing of "running start determination processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "normal driving control processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "10m walking speed measurement running control processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "battery processing" of FIG. It is a main flowchart which shows an example of "walking ability measurement processing" executed by the control device of a smartphone. It is a sub-flow chart which shows an example of the sub-process of "mode selection process" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "start / stop processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "10m measurement information acquisition processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "10m measurement result notification processing" of FIG. It is a flowchart which shows an example of "10m walking speed evaluation process" executed by the control device of a server. It is a sub-flow chart which shows an example of the sub-processing of "10m walking speed calculation processing" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "arm swing walking level evaluation processing" of FIG. It is a perspective view explaining the schematic structure of the walking ability evaluation system which concerns on 2nd Embodiment. It is a figure which shows an example of the display screen of a display device. It is a block diagram which shows the control composition of the walking training robot of FIG. It is a main flowchart which shows an example of the "second walking training support process" executed by the control device of the walking training robot of FIG. 27. It is a sub-flow chart which shows an example of the sub-processing of "second start / stop processing" of FIG. It is a sub-flow chart which shows an example of the sub-process of "10m measurement information acquisition process 2" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "10m walking speed measurement running control processing 2" of FIG. It is a sub-flow chart which shows an example of the sub-processing of "second battery processing" of FIG. It is a sub-flow chart which shows an example of the sub-process of "the second arm swing walking level evaluation process" which concerns on another 1st Embodiment. It is a sub-flow chart which shows an example of the sub-process of "third arm swing walking level evaluation process" which concerns on another 2nd Embodiment.

Hereinafter, the walking ability evaluation system according to the present invention will be described in detail with reference to the drawings based on the first embodiment and the second embodiment. First, the walking ability evaluation system 1 according to the first embodiment will be described with reference to FIGS. 1 to 26. 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 training robot 3, the Y-axis direction indicates a direction toward the left when viewed from the walking training robot 3, and the Z-axis direction indicates a direction toward the left when viewed from the walking training robot 3. Indicates the upward direction.

[First Embodiment]
As shown in FIG. 1, the walking ability evaluation system 1 includes a walking training robot 3, a smartphone 5 (mobile terminal), and a server 9. The walking training robot 3 and the smartphone 5 are configured to be capable of transmitting and receiving information data by wireless communication with each other by Bluetooth (Bluetooth (registered trademark)), Wi-Fi (registered trademark), or the like. Further, the smartphone 5 and the server 9 are configured to be capable of transmitting and receiving information data by wireless communication to and from each other via Wi-Fi or the like via a network 7 such as the Internet. A tablet PC or the like may be used instead of the smartphone 5.

Next, the schematic configuration of the walking training robot 3 will be described with reference to FIGS. 1 and 2. As shown in FIG. 1, the walking training robot 3 includes swivel caster wheels 31L, 31R, drive wheels 32L, 32R, frames 13L, 13R, electric motors 33L, 33R, a battery B, and a control device 40. It has an operation unit 24L, 24R, a brake lever BKL, a shaft holding unit 22L, 22R, a storage box 14, a bag 16, and the like.

The drive wheels 32L and 32R are rotationally driven by the electric motors 33L and 33R (traveling drive device). The electric motors 33L and 33R are provided with traveling speed detection devices 33LE and 33RE (rotational speed detection devices). The traveling speed detection devices 33LE and 33RE are, for example, encoders, and output detection signals corresponding to the rotations of the electric motors 33L and 33R to the control device 40. The control device 40 can detect the traveling speed of the walking training robot 3 with respect to the ground (traveling speed by the drive wheels 32L and 32R) based on the detection signals from the traveling speed detecting devices 33LE and 33RE. Then, the control device 40 (travel control device) controls the electric motors 33L and 33R based on the control signals from the traveling speed detection devices 33LE and 33RE.

The caster wheels 31L and the drive wheels 32L are supported by the frame 13L extending in the front-rear direction, and the caster wheels 31R and the drive wheels 32R are supported by the frame 13R extending in the front-rear direction. The frame 13L and the frame 13R are connected by a connecting member 17. Further, a bag 16 is provided on the front side of the connecting member 17. Further, the connecting member 17 is provided with a 3-axis acceleration / angular velocity sensor 15S.

The 3-axis acceleration / angular velocity sensor 15S measures the acceleration for each of the three directions of the X-axis, the Y-axis, and the Z-axis, and also measures the angular velocity of rotation about each of the three directions. A detection signal based on the measurement result is output to the control device 40. For example, the 3-axis acceleration / angular velocity sensor 15S controls a detection signal according to the tilt angle of the walking training robot 3 with respect to each of the X-axis, Y-axis, and Z-axis when the walking training robot 3 is traveling on an inclined surface. Output to the device 40.

The frame 13L is provided with a slide body 12L whose height can be adjusted in the vertical direction, and the frame 13R is provided with a slide body 12R whose height can be adjusted in the vertical direction. Shaft holding portions 22L and 22R are provided at the upper ends of the slide bodies 12L and 12R. The shaft holding portion 22L holds the shaft 21L so as to be slidable in the front-rear direction, and the shaft holding portion 22R holds the shaft 21R so as to be slidable in the front-rear direction. Further, both ends of the elastically deformable connecting body 11 projecting forward are attached to the side wall surfaces of the shaft holding portions 22L and 22R facing each other.

Grip handles 20L and 20R for the user to grip are provided at the rear ends of the shafts 21L and 21R, respectively. Further, the grip handles 20L and 20R are provided with both a grip extending in the front-rear direction and a grip extending upward, and the user can select the grip that is easier to grip and perform walking training. Further, the grip handles 20L and 20R are provided with a brake lever BKL.

The grip handle 20L and the shaft 21L that the user grips with his / her left hand constitute an operation unit 24L that can be reciprocated by the user's operation. Further, the grip handle 20R and the shaft 21R that the user grips with his / her right hand constitute an operation unit 24R that can be reciprocated by the user's operation. As described above, the operation portions 24L and 24R composed of the grip handles 20L and 20R and the shafts 21L and 21R are provided as a pair on the left and right.

As shown in FIGS. 1 and 2, the shaft holding portions 22L and 22R are movement amount detecting devices 21LS and 21RS (for example, for example) that output a detection signal corresponding to the sliding of the shafts 21L and 21R in the front-rear direction to the control device 40. Encoder) is housed. When the movement amount detection devices 21LS and 21RS are encoders, the encoder rotates with the movement of the shafts 21L and 21R (operation units 24L and 24R) in the front-rear direction, and outputs a detection signal (pulse signal, etc.) according to the rotation. Output to the control device 40. The control device 40 determines how much the shafts 21L and 21R are pushed or pulled (that is, arm swing state or hand push state) based on the detection signals from the movement amount detection devices 21LS and 21RS, respectively. Can be detected.

As shown in FIG. 1, the shaft holding portions 22L and 22R are in a "release state" in which the shafts 21L and 21R can slide in the front-rear direction and a "locked state" in which the shafts 21L and 21R are prohibited from sliding in the front-rear direction. It has lock switching levers 23L and 23R that can switch between. As shown in FIG. 2, the shafts 21L and 21R have shaft reference positions Mz preset with respect to the shaft holding portions 22L and 22R by the urging members 25A and 25B of elastic bodies such as springs. Is being urged to. Further, as shown in FIG. 2, the shafts 21L and 21R are provided in pairs on the left and right, and are held by the rollers 25R and the movement amount detecting devices 21LS and 21RS so as to be slidable in the front-rear direction. ..

As shown in FIG. 1, the lock switching levers 23L and 23R are provided so as to be slidable in the front-rear direction. The shaft holding portions 22L and 22R have slide detection switches 23LS and 23RS (for example, a pressing switch and the like) that output a detection signal corresponding to the slide of the lock switching levers 23L and 23R in the front-rear direction to the control device 40. The control device 40 can detect the slide state of the lock changeover levers 23L and 23R in the front-rear direction based on the detection signals from the slide detection switches 23LS and 23RS.

Further, as shown in FIG. 2, the lock mechanism 27 for restricting the sliding of the shafts 21L and 21R in the front-rear direction includes a lock hole 27A, a lock pin 27B, a lock spring 27C and the like formed in each of the shafts 21L and 21R. It is composed of. Each lock pin 27B is arranged at a position facing substantially the center of each lock hole 27A when the shafts 21L and 21R are positioned at the shaft reference position Mz, and is urged to move upward by the lock spring 27C, respectively. There is.

Then, when the lock switching levers 23L and 23R are slid to the rear side (opposite to the X-axis direction), for example, each lock pin 27B is moved upward by the lock spring 27C as shown in the upper part of FIG. , It becomes the "locked state" inserted in the lock hole 27A. The inner diameter of the lock hole 27A is formed to have a diameter larger than the outer diameter of the lock pin 27B by a predetermined dimension (for example, about 2 mm to 4 mm). As a result, in the "locked state", the movement range of the shafts 21L and 21R in the front-rear direction is regulated within the front-rear regulation range sandwiching the shaft reference position Mz, and the control device 40 is regulated by the movement amount detection devices 21LS and 21RS, respectively. The amount of movement can be detected.

On the other hand, when the lock switching levers 23L and 23R are slid to the front side (X-axis direction side), for example, each lock pin 27B resists the urging force of the lock spring 27C as shown in the middle and lower stages of FIG. It is moved downward to be in the "released state" located outside the lock hole 27A. As a result, as shown in the middle stage of FIG. 2, in the "released state", the shafts 21L and 21R are set to the front limit position Ma on the front side from the shaft reference position Mz by the rollers 25R and the movement amount detecting devices 21LS and 21RS. The maximum moving distance L1 up to is slidable.

Further, as shown in the lower part of FIG. 2, in the "released state", the shafts 21L and 21R are set to the rear limit position Mb on the rear side from the shaft reference position Mz by the rollers 25R and the movement amount detecting devices 21LS and 21RS. The maximum moving distance L2 up to is slidable. Then, the control device 40 can detect each movement amount in the front-rear direction from the shaft reference position Mz of the shafts 21L and 21R by the movement amount detection devices 21LS and 21RS.

Further, as shown in FIG. 1, a main switch 29 is provided on the rear end side of the upper end surface of the shaft holding portion 22R. The main switch 29 is a switch that instructs the start of the walking training robot 3. When the user turns on the main switch 29, power is supplied from the battery B to the control device 40, the electric motors 33L, 33R, the traveling speed detection devices 33LE, 33RE, the movement amount detection devices 21LS, 21RS, etc., and the walking training robot 3 Enables operation and drive driving.

Further, a mounting member 18 to which the smartphone 5 is detachably attached is provided on the front end side of the upper end surface of the shaft holding portion 22R. The mounting member 18 extends diagonally upward and forward from the upper end surface of the shaft holding portion 22R, and has a width substantially the same as the width in the left-right direction of the smartphone 5 and is formed in a shallow substantially groove-like cross section in the left-right direction. .. The smartphone 5 is fitted into the mounting member 18 from above and is detachably fixed by screwing or the like. Further, a storage box 14 is attached to the frame 13R (or the frame 13L). The storage box 14 houses the battery B (power supply), the control device 40, and the communication device 35.

[Control configuration of walking training robot 3]
Next, the control configuration of the walking training robot 3 will be described with reference to FIG. As shown in FIG. 3, the control device 40 is a known one including a CPU, EEPROM, RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. Further, the RAM temporarily stores the calculation result of the CPU, the data input from each detection device, and the like.

The control device 40 includes a detection signal from the traveling speed detection devices 33LE and 33RE, a detection signal from the movement amount detection devices 21LS and 21RS, a detection signal from the slide detection switches 23LS and 23RS, and a detection signal from the 3-axis acceleration / angular velocity sensor 15S. The detection signal is input. Further, a battery remaining amount (SOC) detection signal from a battery remaining amount detecting device (not shown) provided in the battery B is input to the control device 40. Further, the control device 40 outputs a control signal to the electric motors 33L and 33R.

Further, a communication device 35 (see FIG. 1) is electrically connected to the control device 40. The control device 40 is configured to be capable of transmitting and receiving information data by wireless communication with the smartphone 5 via Bluetooth (Bluetooth (registered trademark)), Wi-Fi (registered trademark), or the like via the communication device 35.

Here, as shown in FIG. 4, "arm swing training mode" and "assist mode" are set as the operation modes of the walking training robot 3. In the "arm swing training mode", the user slides the lock switching levers 23L and 23R forward (X-axis direction side) to move the grip handles 20L and 20R and the shafts 21L and 21R back and forth, that is, "release". Set to "Status". The control device 40 is a mode in which the electric motors 33L and 33R are driven and self-propelled in accordance with the arm swing walking while gripping the user's grip handles 20L and 20R.

In the "assist mode", the user slides the lock switching levers 23L and 23R to the rear side (opposite to the X-axis direction) to set the movement range of the grip handles 20L and 20R and the shafts 21L and 21R to the front-rear regulation range. Regulate within, that is, set to "locked state". Then, in the "assist mode", the control device 40 is a mode in which the electric motors 33L and 33R are driven and self-propelled in accordance with the "hand-push walking" in which the user's grip handles 20L and 20R are pushed and walked. .. Therefore, since the walking training robot 3 advances in accordance with the user's "hand-pushed walking", it is possible to support walking without applying a walking load to the user's "hand-pushed walking".

Further, for example, the locked drive table 42 shown in FIG. 5 is stored in advance in the EEPROM of the control device 40. When the lock switching levers 23L and 23R are slid to the rear side (opposite to the X-axis direction) in the "normal travel control process" (see FIG. 14) described later, that is, the locked drive table 42 is , When the shafts 21L and 21R are set to the "locked state", the control device 40 is used to determine the traveling / turning mode.

On the locked drive table 42, the "forward direction" and "right direction" of the "left grip handle operation direction" and the "right grip handle operation direction" corresponding to the detection signals input from the movement amount detection devices 21LS and 21RS, respectively, are displayed. One of the progress / turn modes of "forward", "stop", "right turn", or "left turn" is stored according to the combination of "neutral" and "backward".

For example, when the "operation direction of the left grip handle" and the "operation direction of the right grip handle" are both "forward", the lock state drive table 42 stores the progress / turning mode of "forward". There is. Further, on the locked drive table 42, when the "operation direction of the left grip handle" is "forward direction" and the "operation direction of the right grip handle" is "rear direction", "right turn" is performed. The progress / turning mode is stored.

Further, in the EEPROM of the control device 40, for example, the release drive table 43 shown in FIG. 6 is stored in advance. In the release drive table 43, the lock switching levers 23L and 23R are on the front side (X-axis direction side) in the "normal running control process" and "10 m walking speed measurement running control process" (see FIG. 14) described later. When the shafts 21L and 21R are set to the "released state", that is, when the shafts 21L and 21R are set to the "released state", the control device 40 is used to determine the traveling / turning mode.

The release drive table 43 is "advanced" according to the front-back amplitudes of the grip handles 20L, 20R and the shafts 21L, 21R detected by the movement amount detection devices 21LS, 21RS, that is, the left and right arm swing amplitudes of the user. The driving modes of "turn right" and "turn left" are stored. For example, when the front-back amplitude of the left and right arm swings has the same amplitude on the left and right, the driving table 43 at the time of release stores the traveling mode of "forward". Further, when the front-back amplitude of the left arm swing is larger than the front-back amplitude of the right arm swing, the drive table 43 at the time of release stores the traveling mode of "right turn". Further, when the front-back amplitude of the right arm swing is larger than the front-back amplitude of the left arm swing, the driving table 43 at the time of release stores the traveling mode of "left turn".

Here, an example of the walking speed measuring chamber 46 used for measuring the “10m comfortable walking speed” and the “10m maximum walking speed” described later using the walking training robot 3 will be described with reference to FIG. 7. do. The floor surface 46A of the walking speed measuring chamber 46 is formed in a shape having a width that does not allow a straight walking path of 16 m to be provided. As shown in FIG. 7, in the walking speed measuring chamber 46, the floor surface 46A is formed in a rectangular shape, and in the central portion thereof, a substantially elliptical walking speed measuring course 47 in which the subject operates the walking training robot 3 to walk. Is set.

The walking speed measurement course 47 is a straight walking path 47A arranged in parallel along the longitudinal direction, separated by a predetermined distance (for example, 2 m to 3 m) shorter than 5 m along the lateral direction of the floor surface 46A. , 47B, and semicircular pedestrian paths 47C, 47D having a substantially semicircular shape protruding outward connecting the ends of the straight pedestrian paths 47A, 47B. Further, each of the straight walking paths 47A and 47B is set to a walking distance shorter than 16 m (for example, 3 m to 5 m).

Therefore, as shown in the upper part of FIG. 8, when the subject operates the walking training robot 3 to walk on the straight walking paths 47A and 47B, the difference in the number of rotations of the drive wheels 32L and 32R is the difference in the number of rotations. It becomes the threshold value ΔR1 or less. Further, as shown in the lower part of FIG. 8, when the subject operates the walking training robot 3 to walk on the straight walking paths 47A and 47B, the traveling speed in the constant speed portion L11 is equal to or less than the speed change threshold value ΔV1. become.

[Outline configuration of smartphone 5]
Next, the schematic configuration of the smartphone 5 will be described with reference to FIGS. 9 to 12. As shown in FIGS. 9 and 11, the smartphone 5 is a known one, and is arranged on the back side of the control device 80, the display 81 including a liquid crystal display, the speaker 82, the microphone 83, and the display 81. A main camera 84A, a sub camera 84B arranged on the screen side of the display 81, an operation unit 85 including an operation button or a touch panel covering the screen of the display 81, a sensor unit 86 including a GPS sensor, and the like wirelessly. It includes a communication device 87 capable of communicating, a battery 88, and the like.

The control device 80 is a known one including a CPU, EEPROM, RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. Further, the RAM temporarily stores the calculation result of the CPU, the data received via the communication device 87, and the like.

The control device 80 includes a voice detection signal from the microphone 83, an image signal taken from each of the cameras 84A and 84B, an operation signal corresponding to the operation of the operation button or the touch panel by the user from the operation unit 85, and an operation signal from the sensor unit 86. The current position detection signal or the like by the GPS sensor is input. Further, a battery remaining amount (SOC) detection signal from a battery remaining amount detecting device (not shown) provided in the battery 88 is input to the control device 80.

Further, the communication device 87 is electrically connected to the control device 80. The control device 80 is a server 9 or the like connected to a control device 40 of the walking training robot 3 or a network 7 such as the Internet by Bluetooth (Bluetooth) (registered trademark) or Wi-Fi (registered trademark) via a communication device 87. And, it is configured to be able to send and receive information data by wireless communication. Further, the control device 80 outputs an image display signal for displaying images such as various icons and various input buttons on the display 81, and teaches the speaker 82 the walking speed and the content of the arm swing walking motion when measuring the walking ability. Outputs a drive signal that outputs a teaching voice.

Further, the control device 80 is an arm swing walking level table that stores the contents of the arm swing walking motion to be taught (voice-guided) to the subject before the measurement of the walking ability of the 10 m comfortable walking speed or the 10 m maximum walking speed is started. 49 (see FIG. 10) is stored in the EEPROM in advance. As shown in FIG. 10, the arm swing walking level table 49 is instructed to the subject corresponding to the “arm swing walking level” indicating the difficulty level of the arm swing walking motion and the arm swing walking level as described later. (Voice guidance) "Arm swing walking level content" is stored in correspondence with it (see FIG. 22).

Here, an example of the display screen displayed on the display 81 by the control device 80 will be described with reference to FIGS. 11 and 12. As shown in FIG. 11, in the smartphone 5, the speaker 82 and the sub camera 84B are arranged on the upper side of the upper end edge portion of the display 81, and the microphone 83 is arranged on the lower side of the lower end edge portion of the display 81. Further, an operation unit 85 composed of a touch panel is provided so as to cover the entire display screen of the display 81.

Then, the control device 80 displays an antenna display unit indicating the reception state of the communication device 87, a time, a battery remaining amount (SOC) display unit of the battery 88, and the like on the upper end edge portion of the display 81. Further, as shown on the left side of FIG. 11, the control device 80 displays the telephone icon 81A, the mail icon 81B, the camera icon 81C, the walking training icon 81D, and the like on the initial screen of the display 81.

Then, when the user presses the telephone icon 81A with the finger 89, the control device 80 activates and executes a telephone application program that causes the smartphone 5 to function as a telephone. When the user presses the mail icon 81B with the finger 89, the control device 80 activates and executes a mail application program that functions to send and receive e-mail. When the user presses the camera icon 81C with the finger 89, the control device 80 activates and executes a camera application program that causes the smartphone 5 to function as a camera.

Further, as shown on the left side of FIG. 11, when the user presses the walking training icon 81D with the finger 89, the control device 80 registers a user registration application program for registering the name or user ID of the user who uses the walking training robot 3. Start and run. Specifically, as shown on the right side of FIG. 11, the control device 80 displays the character button 81G in the center of the display 81, and displays the name or user ID entered by pressing the character button 81G. The column 81F is displayed above the character button 81G. Further, the control device 80 displays a registration button 81H instructing to register the name or user ID displayed in the display field 81F on the lower right side of the character button 81G.

Then, as shown on the left side of FIG. 12, the user presses the character button 81G and displays the name or user ID of the user who uses the walking training robot 3 in the display field 81F. After that, when the user presses the registration button 81H with the finger 89, the control device 80 stores the user name or the user ID in the EEPROM, and then, for example, as shown on the right side of FIG. 12, the smartphone 5 is used as the walking training robot 3. In addition to functioning as an operation panel, an application program for walking training including a program for walking ability measurement processing (see FIG. 19) described later is started and executed.

Specifically, as shown on the right side of FIG. 12, the control device 80 includes a start button 90A, an end button 90B, a hand push mode button 90C, an arm swing mode button 90D, a battery remaining amount display unit 90E, and a 10m measurement button 90F. The operation panel screen 90 on which the drive torque adjusting unit 90G and the like are displayed is displayed on the display 81. Further, the control device 80 detects that each of the buttons 90A to 90D, 90F, etc. is pressed by the finger 89 via the operation unit 85 composed of a touch panel or the like.

For example, when the start button 90A displayed on the display 81 is pressed, the running control of the walking training robot 3 is started. When the end button 90B is pressed, the running control of the walking training robot 3 is stopped. When the hand-push mode button 90C is pressed, the operation mode of the walking training robot 3 is set to an assist mode that supports walking (non-arm swing walking) in a wheelbarrow state without shaking the arm.

When the arm swing mode button 90D is pressed, the operation mode of the walking training robot 3 is set to the arm swing training mode that supports "arm swing walking" in which the walking while swinging the arm is supported. When the 10m measurement button 90F is pressed, the operation mode of the walking training robot 3 is set to the arm swing training mode, and the driving wheels 32L and 32R are used to measure the walking ability of the user (subject) as described later. The number of rotations is detected and transmitted to the smartphone 5.

The battery remaining amount display unit 90E displays the battery remaining amount of the battery B of the walking training robot 3. The drive torque adjusting unit 90G is an input unit for the user to adjust the strength of the drive torque of the electric motors 33L and 33R when the walking training robot 3 advances. For example, when the walking training robot 3 is used on an uphill slope, the user inputs an instruction to increase the drive torque from the drive torque adjusting unit 90G.

Next, the schematic configuration of the server 9 will be described with reference to FIG. As shown in FIG. 13, the server 9 is a known one, and includes a control device 93, a display 94 including a liquid crystal display, an operation unit 95 including a keyboard, a mouse, and the like, and an HDD (Hard Disc Drive), for example. Alternatively, it is provided with a storage device 96 made of an SSD (Solid State Drive) or the like, and a communication device 97 or the like capable of wireless communication by Wi-Fi or the like.

The control device 93 is a known one including a CPU, EEPROM, RAM, a timer, and the like. The CPU executes various arithmetic processes based on various programs and various parameters stored in the EEPROM. Further, the RAM temporarily stores the calculation result of the CPU, the data received via the communication device 97, and the like.

An operation signal corresponding to an operation of a keyboard, a mouse, or the like by a user from the operation unit 95 is input to the control device 93. Further, the control device 93 is electrically connected to the communication device 97. The control device 93 is configured to be capable of transmitting and receiving information data by wireless communication with a smartphone 5 or the like connected to the network 7 by Wi-Fi or the like via a communication device 97. Further, the control device 93 outputs a message input from the keyboard to the display 94 and an image display signal for displaying various image data received via the communication device 97. Further, the control device 93 stores various information data received via the communication device 97 and various calculated calculation results in the storage device 96.

Further, the storage device 96 is provided with a user-specific 10 m comfortable walking speed storage unit 96A, a user-specific 10 m maximum walking speed storage unit 96B, a user-specific arm swing walking level storage unit 96C, and the like. In the user-specific 10m comfortable walking speed storage unit 96A, the 10m comfortable walking speed measured in the past 3 months to the past 12 months of the user (subject) is chronologically associated with the user ID and the user's name together with the measurement date and time. It is stored in.

In the user-specific 10 m maximum walking speed storage unit 96B, the 10 m maximum walking speed measured in the past 3 months to the past 12 months of the user (subject) is chronologically associated with the user ID and the user's name together with the measurement date and time. It is stored in. The arm swing walking level storage unit 96C for each user stores the arm swing walking level of the user (subject) in association with the user ID and the user's name.

[Details of walking training control]
Next, FIGS. 14 to 14 show the processing procedures performed by the control devices 40, 80, and 93 when the user performs walking training or the like using the walking training robot 3 of the walking ability evaluation system 1 configured as described above. It will be described based on 26.

Specifically, first, the user turns on the main switch 29 (see FIG. 1) of the walking training robot 3 configured as described above. Further, the user activates the smartphone 5 detachably attached to the attachment member 18 (see FIG. 1) of the walking training robot 3, and presses the walking training icon 81D displayed on the initial screen of the display 81 with the finger 89. The display field 81F, the character button 81G, and the registration button 81H are displayed on the display 81 (see FIG. 11). Then, the user presses the character button 81G, inputs the name or the user ID in the display field 81F, and then presses the registration button 81H with the finger 89 (see FIG. 12).

When the user turns on the main switch 29 of the walking training robot 3, the control device 40 is activated and executes the "walking training support process" shown in FIG. 14 at predetermined time intervals (for example, several [ms] intervals). Then, the process proceeds to step S11. Further, when the user presses the registration button 81H with the finger 89, the control device 80 of the smartphone 5 stores the user's name or user ID in the RAM, and then displays the operation panel screen 90 on the display 81 (see FIG. 12). ..

After that, the control device 80 executes the “walking ability measurement process” shown in FIG. 19 at predetermined time intervals (for example, several [ms] intervals), and proceeds to step S21. Further, the control device 93 of the server 9 executes the “10 m walking speed evaluation process” shown in FIG. 24 at predetermined time intervals (for example, several [ms] intervals), and proceeds to step S411.

[Walking training support processing]
The "walking training support process" executed by the control device 40 of the walking training robot 3 will be described with reference to FIGS. 14 to 18. The program shown in the flowchart in FIGS. 14 to 18 is stored in the EEPROM of the control device 40 in advance.

As shown in FIG. 14, first, in step S11, the control device 40 executes a sub-process (see FIG. 15) of the “running start determination process” described later, and then proceeds to the process of step S12. In step S12, the control device 40 executes a sub-process (see FIG. 16) of the "normal travel control process", and then proceeds to the process of step S13. In step S13, the control device 40 executes the sub-process (see FIG. 17) of the “10 m walking speed measurement travel control process”, and then proceeds to the process of step S14. In step S14, the control device 40 ends the walking training support process after executing the sub-process (see FIG. 18) of the “battery process”.

[Running start judgment processing]
Next, the sub-processing of the above-mentioned "running start determination processing" will be described with reference to FIG. As shown in FIG. 15, first, in step S111, the control device 40 determines whether or not the "arm swing start instruction command" is received from the smartphone 5 via the communication device 35. This "arm swing start instruction command" is a command instructing the walking training robot 3 to start running in the arm swing training mode.

Then, when it is determined that the "arm swing start instruction command" has been received from the smartphone 5 via the communication device 35 (S111: YES), the control device 40 proceeds to the process of step S112. In step S112, the control device 40 reads the training start flag from the RAM, sets the training start flag to ON, stores the training start flag in the RAM again, ends the sub-processing, and ends the "normal running" in step S12. Proceed to the sub-processing of "Control processing". The training start flag is set to OFF and stored in the RAM when the control device 40 is started.

On the other hand, if it is determined that the "arm swing start instruction command" has not been received from the smartphone 5 via the communication device 35 (S111: NO), the control device 40 proceeds to the process of step S113. In step S113, the control device 40 determines whether or not the "assist start instruction command" has been received from the smartphone 5 via the communication device 35. This "assist start instruction command" is a command instructing the walking training robot 3 to start running in the assist mode.

Then, when it is determined that the "assist start instruction command" has been received from the smartphone 5 via the communication device 35 (S113: YES), the control device 40 proceeds to the process of step S114. In step S114, the control device 40 reads the assist start flag from the RAM, sets the assist start flag to ON, stores the assist start flag in the RAM again, ends the sub-processing, and performs the "normal running" in step S12. Proceed to the sub-processing of "Control processing". The assist start flag is set to OFF and stored in the RAM when the control device 40 is started.

On the other hand, if it is determined that the "assist start instruction command" has not been received from the smartphone 5 via the communication device 35 (S113: NO), the control device 40 proceeds to the process of step S115. In step S115, the control device 40 determines whether or not the “10 m measurement start instruction command” has been received from the smartphone 5 via the communication device 35. This "10m measurement start instruction command" starts running of the walking training robot 3 in the arm swing training mode, and also has a running distance, a running time, the number of rotations of each drive wheel 32L and 32R, and each shaft 21L. , 21R is a command to detect the amount of movement in the front-back direction and instruct to transmit each data to the smartphone 5.

Then, when it is determined that the "10 m measurement start instruction command" has been received from the smartphone 5 via the communication device 35 (S115: YES), the control device 40 proceeds to the process of step S116. In step S116, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to ON, stores the 10m measurement start flag in the RAM again, and then ends the sub-processing to complete the step S12. Proceed to the sub-processing of "normal driving control processing". The 10m measurement start flag is set to OFF and stored in the RAM when the control device 40 is started.

On the other hand, when it is determined that the "10 m measurement start instruction command" has not been received from the smartphone 5 via the communication device 35 (S115: NO), the control device 40 proceeds to the process of step S117. In step S117, the control device 40 determines whether or not the "end instruction command" has been received from the smartphone 5 via the communication device 35. This "end instruction command" is a command to stop the driving of the electric motors 33L and 33R and instruct to end (stop) the running according to the walking of the user.

Then, when it is determined that the "end instruction command" has been received from the smartphone 5 via the communication device 35 (S117: YES), the control device 40 proceeds to the process of step S118. In step S118, the control device 40 reads the training start flag, the assist start flag, and the 10m measurement start flag from the RAM, sets each of the training start flag, the assist start flag, and the 10m measurement start flag to OFF, and sets them in the RAM again. After the storage, the sub-process is terminated, and the process proceeds to the sub-process of the "normal travel control process" in step S12.

On the other hand, when it is determined that the "end instruction command" has not been received from the smartphone 5 via the communication device 35 (S117: NO), the control device 40 ends the sub-processing and the above step S12. Proceed to the sub-processing of "normal driving control processing". That is, the control device 40 proceeds to the sub-process of the "normal travel control process" in step S12 without changing the training start flag, the assist start flag, and the 10 m measurement start flag.

[Normal driving control processing]
Next, the sub-processing of the above-mentioned "normal traveling control processing" will be described with reference to FIG. As shown in FIG. 16, first, in step S121, the control device 40 reads the training start flag from the RAM, and whether or not the training start flag is set to ON, that is, receives a training start instruction command from the smartphone 5. Judge whether or not it is done.

Then, when it is determined that the training start flag read from the RAM is set to ON (S121: YES), the control device 40 determines that the training start instruction command has been received from the smartphone 5, and steps S122. Proceed to the process of. In step S122, the control device 40 determines whether or not the movement range of the shafts 21L and 21R in the front-rear direction is regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS. .. That is, the "locked state" in which the lock switching levers 23L and 23R are slid to the rear side (opposite to the X-axis direction) and the lock pins 27B are inserted into the lock holes 27A of the shafts 21L and 21R. Whether or not it is determined (see the upper part of FIG. 2).

Then, when it is determined that the movement range of the shafts 21L and 21R in the front-rear direction is regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the "locked state" is inserted in the lock holes 27A of the shafts 21L and 21R (S122: YES), the control device 40 ends the sub-processing and "10m" in step S13. Proceed to the sub-processing of "walking speed measurement running control processing". That is, in the control device 40, the lock switching levers 23L and 23R are slid to the front side (X-axis direction side), for example, and the lock pins 27B are located outside the lock holes 27A of the shafts 21L and 21R. Wait for it to be in the "released state".

On the other hand, when it is determined that the movement range of the shafts 21L and 21R in the front-rear direction is not regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the shaft is in the "released state" located outside the lock holes 27A of the shafts 21L and 21R (S122: NO), the control device 40 is subjected to arm swing walking training in which the left and right arms are shaken to walk. It is determined that it can be done, and the process proceeds to step S123.

In step S123, the control device 40 uses the movement amount detection devices 21LS and 21RS to move each movement amount of the shafts 21L and 21R in the front-rear direction from the shaft reference position Mz, that is, the shaft reference positions of the left and right grip handles 20L and 20R. After detecting the amount of movement in the front-rear direction from Mz (see the middle and lower rows of FIG. 2) and storing it in the RAM, the process proceeds to step S124.

In step S124, the control device 40 detects the left and right arm swing amplitudes of the user from the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction. Then, the control device 40 determines the traveling mode corresponding to the left and right arm swing amplitude of the user from the release drive table 43 (see FIG. 6). Therefore, when the training start flag is ON, the lock switching levers 23L and 23R are slid so that the lock pins 27B are in the "released state" where the lock pins 27B are located outside the lock holes 27A of the shafts 21L and 21R. ing.

Then, the control device 40 drives the left and right electric motors 33L and 33L so as to travel according to the speed of the left and right arm swings of the user in this determined traveling mode, and ends the sub-processing, and the above-mentioned The process proceeds to the sub-processing of "10m walking speed measurement running control processing" in step S13. That is, the control device 40 drives the left and right electric motors 33L and 33L so as to move the walking training robot 3 according to the arm swing walking that grips each of the user's grip handles 20L and 20R. As a result, the user can perform arm swing walking training in which the grip handles 20L and 20R are gripped and the left and right arms are swung to walk.

On the other hand, if it is determined in step S121 that the training start flag read from the RAM is set to OFF (S121: NO), the control device 40 proceeds to the process of step S125. In step S125, the control device 40 reads the assist start flag from the RAM and determines whether or not the assist start flag is set to ON, that is, whether or not the assist start instruction command is received from the smartphone 5.

Then, when it is determined that the assist start flag read from the RAM is set to ON (S125: YES), the control device 40 determines that the assist start instruction command has been received from the smartphone 5, and steps S126. Proceed to the process of. In step S126, the control device 40 executes the process of step S122.

Then, when it is determined that the movement range in the front-rear direction of the shafts 21L and 21R is not regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the "released state" is located outside the lock hole 27A of each of the shafts 21L and 21R (S126: NO), the control device 40 ends the sub-processing and "" in step S13. Proceed to the sub-processing of "10m walking speed measurement running control processing". That is, in the control device 40, the lock switching levers 23L and 23R are slid to the rear side (opposite to the X-axis direction), and the lock pins 27B are inserted into the lock holes 27A of the shafts 21L and 21R. Wait for it to be in the "locked state".

On the other hand, when it is determined that the movement range of the shafts 21L and 21R in the front-rear direction is regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the "locked state" is inserted in the lock holes 27A of the shafts 21L and 21R (S126: YES), the control device 40 proceeds to the process of step S127.

In step S127, the control device 40 uses the movement amount detection devices 21LS and 21RS to move each movement amount of the shafts 21L and 21R in the front-rear direction from the shaft reference position Mz, that is, the shaft reference positions of the left and right grip handles 20L and 20R. By detecting the amount of movement in the front-rear direction from Mz (see the upper part of FIG. 2), it is determined whether the user is pushing the left and right grip handles 20L and 20R in the forward direction, separating them from each other in the neutral position, or pulling them in the backward direction. After detecting and storing in the RAM, the process proceeds to step S128. That is, the control device 40 detects the operation directions of the left and right grip handles 20L and 20R, stores them in the RAM, and then proceeds to the process of step S128.

In step S128, the control device 40 reads out the operating directions of the left and right grip handles 20L and 20R from the RAM, and the "left grip handle operating direction" and the "right grip handle" of the locked drive table 42 (see FIG. 5). Operation direction ". Then, the control device 40 "forwards", "stops", "turns right", or "turns left" according to the combination of the respective "forward", "neutral", and "backward" operation directions. One of the progress / turning modes is read from the locked drive table 42 and determined as the traveling mode. Therefore, when the assist start flag is ON, the lock switching levers 23L and 23R are slid so that the lock pins 27B are in the "locked state" in which the lock pins 27B are inserted into the lock holes 27A of the shafts 21L and 21R. There is.

Then, the control device 40 drives the left and right electric motors 33L and 33R for a predetermined time (for example, several msec) so that the grip handles 20L and 20R are located at the shaft reference positions according to the determined traveling mode. After that, the sub-process is terminated, and the process proceeds to the sub-process of "10 m walking speed measurement running control process" in step S13. As a result, the walking training robot 3 can follow and run according to the walking of the user in the hand-pushed state of the left and right grip handles 20L and 20R, and the walking training robot 3 runs in the assist mode to support the walking of the user. can do.

On the other hand, when it is determined in step S125 that the assist start flag read from the RAM is set to OFF (S125: NO), the control device 40 has not received the assist start instruction command from the smartphone 5. Then, the process proceeds to step S129. In step S129, the control device 40 stops driving the left and right electric motors 33L and 33R, stops the left and right drive wheels 32L and 32R, finishes the sub-processing, and ends the sub-processing, "10m" in step S13. Proceed to the sub-processing of "walking speed running control processing".

[10m walking speed measurement running control processing]
Next, the sub-processing of the above-mentioned "10m walking speed measurement running control process" will be described with reference to FIG. As shown in FIG. 17, first, in step S131, the control device 40 reads the 10m measurement start flag from the RAM, and whether or not the 10m measurement start flag is set to ON, that is, the 10m measurement start instruction from the smartphone 5. Determine if a command has been received.

Then, when it is determined that the 10 m measurement start flag read from the RAM is set to OFF (S131: NO), it is determined that the control device 40 has not received the 10 m measurement start instruction command from the smartphone 5. Then, the process proceeds to step S132. In step S132, the control device 40 stops driving the left and right electric motors 33L and 33R, stops the left and right drive wheels 32L and 32R, and then ends the sub-processing, and the "battery" in step S14. Proceed to the sub-processing of "Processing".

On the other hand, when it is determined that the 10 m measurement start flag read from the RAM is set to ON (S131: YES), the control device 40 determines that the 10 m measurement start instruction command has been received from the smartphone 5 and determines that the control device 40 has received the 10 m measurement start instruction command. The process proceeds to step S133. In step S133, the control device 40 executes the process of step S122.

Then, when it is determined that the movement range of the shafts 21L and 21R in the front-rear direction is regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the "locked state" is inserted in the lock holes 27A of the shafts 21L and 21R (S133: YES), the control device 40 executes the processes after step S132.

On the other hand, when it is determined that the movement range of the shafts 21L and 21R in the front-rear direction is not regulated within the front-rear regulation range based on the detection signals from the slide detection switches 23LS and 23RS, that is, each lock pin 27B When it is determined that the shaft is in the "released state" located outside the lock holes 27A of the shafts 21L and 21R (S133: NO), the control device 40 is subjected to arm swing walking training in which the left and right arms are shaken to walk. It is determined that it can be done, and the process proceeds to step S134.

In step S134, the control device 40 uses the movement amount detection devices 21LS and 21RS to move each movement amount of the shafts 21L and 21R in the front-rear direction from the shaft reference position Mz, that is, the shaft reference positions of the left and right grip handles 20L and 20R. After detecting the amount of movement in the front-back direction from Mz (see the middle and lower rows of FIG. 2) and storing it in the RAM as "arm swing data", the process proceeds to step S135.

In step S135, the control device 40 detects the left and right arm swing amplitudes of the user from the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction. Then, the control device 40 determines the traveling mode corresponding to the left and right arm swing amplitude of the user from the release drive table 43 (see FIG. 6). Then, the control device 40 drives the left and right electric motors 33L and 33L so as to travel according to the speed of the left and right arm swings of the user in the determined traveling mode, and proceeds to the process of step S136.

In step S136, the control device 40 detects the rotation speeds of the pair of left and right drive wheels 32L and 32R based on the detection signals from the traveling speed detection devices 33LE and 33RE (rotational speed detection devices) and stores them in the RAM. .. Further, the control device 40 multiplies the rotation speeds of the drive wheels 32L and 32R by the outer diameters of the drive wheels 32L and 32R to calculate the mileage of the walking training robot 3 and stores it in the RAM.

Further, the control device 40 acquires the travel time traveled over this travel distance from the timer and stores it in the RAM. Then, the rotation speeds of the pair of left and right drive wheels 32L and 32R, the mileage of the walking training robot 3, and the mileage traveled in this mileage are read from the RAM and stored in the RAM again as "travel data". , Proceed to the process of step S137. In step S137, the control device 40 reads out the "arm swing data" stored in the RAM in step S134 and the "running data" stored in the RAM in step S136 from the RAM, and uses this "arm swing data". After transmitting the "travel data" to the smartphone 5 via the communication device 35, the process proceeds to step S138.

In step S138, whether or not the control device 40 has stopped the movement amount in the front-rear direction from the shaft reference position Mz of the left and right grip handles 20L and 20R detected by the movement amount detection devices 21LS and 21RS at "0". That is, it is determined whether or not the user's arm swing has stopped. Then, the movement amount in the front-rear direction from the shaft reference position Mz of the left and right grip handles 20L and 20R detected by the movement amount detection devices 21LS and 21RS is not stopped at "0", that is, the user's arm swing is If it is determined that the sub-processing is continued (S138: NO), the control device 40 ends the sub-processing and proceeds to the sub-processing of "battery processing" in step S14.

On the other hand, the movement amount of the left and right grip handles 20L and 20R detected by the movement amount detection devices 21LS and 21RS in the front-rear direction from the shaft reference position Mz is stopped at "0", that is, the user's arm swing is stopped. If it is determined that the device is stopped (S138: YES), the control device 40 proceeds to the process of step S139. In step S139, the control device 40 determines that the arm swing walking by the user (subject) for measuring the "10 m comfortable walking speed" or the "10 m maximum walking speed" has been completed, and issues a "measurement running end signal". After transmitting to the smartphone 5 via the communication device 35, the process proceeds to step S140.

In step S140, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to OFF, stores the 10m measurement start flag in the RAM again, and then ends the sub-processing to complete the step S14. Proceed to the sub-processing of "Battery processing".

[Battery processing]
Next, the sub-processing of the above "battery processing" will be described with reference to FIG. As shown in FIG. 18, first, in step S145, the control device 40 determines the battery remaining amount of the battery B from the battery remaining amount (SOC) detection signal input from the battery remaining amount detecting device (not shown) provided in the battery B. After detecting the amount and storing it in the RAM, the process proceeds to step S146. In step S146, the control device 40 reads the remaining battery level of the battery B from the RAM, transmits the battery level information including the battery level data to the smartphone 5 via the communication device 35, and then performs the sub-processing. Finish and finish the walking training support process.

[Walking ability measurement processing]
Next, the "walking ability measurement process" executed by the control device 80 of the smartphone 5 will be described with reference to FIGS. 19 to 23. The programs shown in the flowcharts of FIGS. 19 to 23 are stored in advance in the EEPROM of the control device 80.

As shown in FIG. 19, first, in step S21, the control device 80 executes a sub-process (see FIG. 20) of the “mode selection process” described later, and then proceeds to the process of step S22. In step S22, the control device 80 executes a sub-process (see FIG. 21) of the “start / stop process” described later, and then proceeds to the process of step S23. In step S23, the control device 80 executes a sub-process (see FIG. 22) of the “10 m measurement information acquisition process” described later, and then proceeds to the process of step S24. In step S24, the control device 80 ends the walking ability measurement process after executing the sub-process (see FIG. 23) of the “10 m measurement result notification process” described later.

[Mode selection process]
Next, the sub-processing of the above-mentioned "mode selection processing" for determining the operation mode of the walking training robot 3 will be described with reference to FIG. As shown in FIG. 20, first, in step S211 of the control device 80, the arm swing mode button 90D (see FIG. 12) of the operation panel screen 90 (see FIG. 10) displayed on the display 81 is fingered 89 (see FIG. 12). 12) It is determined whether or not the button has been pressed.

When the user selects walking training in the arm swing training mode, the user presses the arm swing mode button 90D with a finger 89. On the other hand, when the user selects the assist mode in which the walking training robot 3 follows and runs to support the user's walking in accordance with the walking of the user in the hand-pushed state of the left and right grip handles 20L and 20R, the user pushes the left and right grip handles 20L and 20R by hand. Press the mode button 90C (see FIG. 12) with the finger 89.

Then, when it is determined that the arm swing mode button 90D is pressed by the finger 89 (S211: YES), the control device 80 proceeds to the process of step S212. In step S212, the control device 80 reads the training flag from the RAM, sets the training flag to ON, stores the training flag in the RAM again, and then proceeds to the process of step S213. In step S213, the control device 80 reads the assist flag and the 10m measurement flag from the RAM, sets each of the assist flag and the 10m measurement flag to OFF, stores them in the RAM again, and then proceeds to the process of step S214. The training flag, the assist flag, and the 10m measurement flag are set to OFF and stored in the RAM when the control device 80 is started.

In step S214, the control device 80 turns the button mark 90DA (see FIG. 12) marked with a white circle on the arm swing mode button 90D into an ON display (for example, a red blinking display or the like), and then proceeds to the process of step S215. In step S215, the control device 80 turns off the button mark 90CA (see FIG. 12) of the hand-push mode button 90C and the button mark 90FA of the 10m measurement button 90F (for example, a white circle mark or the like), and then the sub. The process is completed, and the process proceeds to the sub-process of "start / stop process" in step S22. As a result, it is displayed that the walking training in the arm swing training mode is selected.

On the other hand, if it is determined in step S211 that the arm swing mode button 90D is not pressed by the finger 89 (S211: NO), the control device 80 proceeds to the process of step S216. In step S216, the control device 80 determines whether or not the hand push mode button 90C of the operation panel screen 90 displayed on the display 81 is pressed by the finger 89.

Then, when it is determined in step S216 that the hand push mode button 90C is pressed by the finger 89 (S216: YES), the control device 80 proceeds to the process of step S217. In step S217, the control device 80 reads the assist flag from the RAM, sets the assist flag to ON, stores the assist flag in the RAM again, and then proceeds to the process of step S218. In step S218, the control device 80 reads the training flag and the 10m measurement flag from the RAM, sets each of the training flag and the 10m measurement flag to OFF, stores them in the RAM again, and then proceeds to the process of step S219.

In step S219, the control device 80 turns on the button mark 90CA (see FIG. 12) marked with a white circle of the hand-push mode button 90C to ON display (for example, a red blinking display or the like), and then proceeds to the process of step S220. In step S220, the control device 80 turns off the button mark 90DA of the arm swing mode button 90D and the button mark 90FA of the 10m measurement button 90F (for example, a white circle mark or the like), and then ends the sub-processing. Then, the process proceeds to the sub-processing of "start / stop processing" in step S22. As a result, it is displayed that the assist mode in which the walking training robot 3 follows and runs to support the walking of the user is selected according to the walking of the user in the hand-pushed state.

On the other hand, if it is determined in step S216 that the hand push mode button 90C is not pressed by the finger 89 (S216: NO), the control device 80 proceeds to the process of step S221. In step S221, the control device 80 determines whether or not the 10 m measurement button 90F of the operation panel screen 90 displayed on the display 81 is pressed by the finger 89. Then, when it is determined that the 10 m measurement button 90F is not pressed by the finger 89 (S221: NO), the control device 80 ends the sub-process, and the "start / stop process" in step S22 is performed. Proceed to sub-processing.

On the other hand, when it is determined in step S221 that the 10m measurement button 90F is pressed by the finger 89 (S221: YES), the control device 80 proceeds to the process of step S222. In step S222, the control device 80 reads the 10m measurement flag from the RAM, sets the 10m measurement flag to ON, stores the flag in the RAM again, and then proceeds to the process of step S223. In step S223, the control device 80 reads the training flag and the assist flag from the RAM, sets each of the training flag and the assist flag to OFF, stores the training flag and the assist flag in the RAM again, and then proceeds to the process of step S224.

In step S224, the control device 80 turns the button mark 90FA (see FIG. 12) marked with a white circle on the 10 m measurement button 90F into an ON display (for example, a red blinking display or the like), and then proceeds to the process of step S225. In step S225, the control device 80 turns off the button mark 90DA of the arm swing mode button 90D and the button mark 90CA of the hand-push mode button 90C (for example, a white circle mark or the like), and then ends the sub-processing. Then, the process proceeds to the sub-processing of "start / stop processing" in step S22. As a result, it is displayed that the 10m measurement mode for measuring the walking ability of 10m comfortable walking speed and 10m maximum walking speed by arm swing walking is selected.

[Start / Stop processing]
Next, the sub-processing of the above-mentioned "start / stop processing" will be described with reference to FIG. As shown in FIG. 21, first, in step S231, in the control device 80, the start button 90A (see FIG. 12) of the operation panel screen 90 (see FIG. 12) displayed on the display 81 is fingered 89 (see FIG. 12). ) To determine whether or not it was pressed.

When the user starts walking by walking training in the arm swing training mode or walking support in the assist mode, the user presses the start button 90A with the finger 89. When the user (subject) measures the walking ability at a comfortable walking speed of 10 m and a maximum walking speed of 10 m, a person at a facility such as a physiotherapist takes a walking speed measurement course 47 at each measurement (see FIG. 7). After teaching (instructing) the user (subject) the number of laps of the above (for example, instructing the user (subject) to lap two laps at a time), the start button 90A is pressed with a finger 89.

Then, when it is determined that the start button 90A is pressed by the finger 89 (S231: YES), the control device 80 proceeds to the process of step S232. In step S232, the control device 80 reads the smartphone start flag from the RAM, sets the smartphone start flag to ON, stores it in the RAM again, and then proceeds to the process of step S233. The smartphone start flag is set to OFF and stored in the RAM when the control device 80 is started.

In step S233, the control device 80 reads the training flag from the RAM and determines whether or not the training flag is set to ON. Then, when it is determined that the training flag is set to OFF (S233: NO), the control device 80 proceeds to the process of step S235 described later. On the other hand, if it is determined that the training flag is set to ON (S233: YES), the control device 80 proceeds to the process of step S234.

In step S234, the control device 80 is instructed via the communication device 87 to start running in the "arm swing training mode" in which the walking training robot 3 follows and runs in accordance with the user's arm swing walking. After transmitting the "arm swing start instruction command" to the walking training robot 3, the process proceeds to step S235. In step S235, the control device 80 reads the assist flag from the RAM and determines whether or not the assist flag is set to ON. Then, when it is determined that the assist flag is set to OFF (S235: NO), the control device 80 proceeds to the process of step S237 described later.

On the other hand, if it is determined that the assist flag is set to ON (S235: YES), the control device 80 proceeds to the process of step S236. In step S236, the control device 80 instructs the walking training robot 3 to start running in the "assist mode" in which the walking training robot 3 follows the walking of the user in the hand-pushed state via the communication device 87. After transmitting the "assist start instruction command" to the walking training robot 3, the process proceeds to step S237.

In step S237, the control device 80 reads the 10m measurement flag from the RAM and determines whether or not the 10m measurement flag is set to ON. Then, when it is determined that the 10 m measurement flag is set to OFF (S237: NO), the control device 80 proceeds to the process of step S243 described later. On the other hand, when it is determined that the 10m measurement flag is set to ON (S237: YES), the control device 80 proceeds to the process of step S238.

In step S238, the control device 80 reads the "10m measurement start flag" indicating that the walking ability of the 10m comfortable walking speed and the 10m maximum walking speed is measured from the RAM, sets the 10m measurement start flag to ON, and sets the 10m measurement start flag to ON. After storing in the RAM again, the process proceeds to the process of step S243 described later. The 10m measurement start flag is set to OFF and stored in the RAM when the control device 80 is started.

On the other hand, if it is determined in S231 that the start button 90A is not pressed by the finger 89 (S2311: NO), the control device 80 proceeds to the process of step S239. In step S239, the control device 80 determines whether or not the end button 90B (see FIG. 12) of the operation panel screen 90 (see FIG. 12) displayed on the display 81 is pressed by the finger 89 (see FIG. 12). do. In addition, when the user finishes walking in the walking training in the arm swing training mode or the walking support in the assist mode, or when the measurement of the walking ability of 10 m comfortable walking speed or 10 m maximum walking speed is completed. Press the end button 90B with the finger 89.

Then, when it is determined that the end button 90B is not pressed by the finger 89 (S239: NO), the control device 80 proceeds to the process of step S243 described later. As a result, when the user is walking with walking training in the arm swing training mode or walking support in the assist mode, or when the walking ability of 10 m comfortable walking speed or 10 m maximum walking speed is measured. In that state, walking using the walking training robot 3 is continued.

On the other hand, when it is determined that the end button 90B is pressed by the finger 89 (S239: YES), the control device 80 proceeds to the process of step S240. In step S240, the control device 80 reads the smartphone start flag from the RAM, sets the smartphone start flag to OFF, stores the smartphone start flag in the RAM again, and then proceeds to the process of step S241.

In step S241, the control device 80 reads the training flag, the assist flag, and the 10m measurement flag from the RAM, sets each to OFF, stores them in the RAM again, and then proceeds to the process of step S242. In step S242, the control device 80 is used for running in the arm swing training mode, running in the assist mode, or measuring the walking ability of 10 m comfortable walking speed or 10 m maximum walking speed via the communication device 87. After transmitting the "end instruction command" instructing the walking training robot 3 to end (stop) the running of the walking training robot 3, the process proceeds to step S243. As a result, the walking training robot 3 is stopped (see FIGS. 16 and 17).

In step S243, the control device 80 determines whether or not the battery remaining amount information including the battery remaining amount data of the battery B is received from the walking training robot 3 via the communication device 87. Then, when it is determined that the battery remaining amount information has not been received from the walking training robot 3 (S243: NO), the control device 80 ends the sub-processing and obtains the "10m measurement information acquisition" in step S23. Proceed to the sub-processing of "Processing".

On the other hand, if it is determined that the battery remaining amount information is received from the walking training robot 3 (S243: YES), the control device 80 proceeds to the process of step S244. In step S244, the control device 80 displays the battery remaining amount of the battery B included in the battery remaining amount information on the operation panel screen 90 (see FIG. 12) of the battery remaining amount display unit 90E (see FIG. 12). After displaying in FIG. 12), the sub-process is terminated, and the process proceeds to the sub-process of “10 m measurement information acquisition process” in step S23. For example, as shown on the right side of FIG. 12, when the battery remaining amount of the battery B included in the battery remaining amount information is "80%", the control device 80 has the battery remaining amount of the operation panel screen 90. "Power 80%" is displayed on the display unit 90E.

[10m measurement information acquisition process]
Next, the sub-processing of the above-mentioned "10m measurement information acquisition processing" will be described with reference to FIG. 22. As shown in FIG. 22, first, in step S251, the control device 80 reads the "10m measurement start flag" from the RAM and determines whether or not it is set to ON. When it is determined that the 10 m measurement start flag is set to OFF (S251: NO), the control device 80 ends the sub-process, and the "10 m measurement result notification process" in step S24 is performed. Proceed to sub-processing.

On the other hand, when it is determined that the 10m measurement start flag is set to ON (S251: YES), the control device 80 proceeds to the process of step S252. In step S252, the control device 80 reads the number N representing the number of times the walking ability is measured from the RAM, and whether or not the number N is "2", that is, whether or not it is the second measurement for measuring the walking ability. Is determined. Then, when it is determined that the number of times N is not "2", that is, the number of times N is "0" or "1" (S252: NO), the control device 80 proceeds to the process of step S253. When the control device 80 is started, "0" is assigned to the number N and stored in the RAM.

In step S253, the control device 80 reads the "first flag" indicating that the first measurement start instruction of the walking ability is transmitted to the walking training robot 3 from the RAM, and is this first flag set to OFF? Judge whether or not. That is, the control device 80 determines whether or not the first measurement start instruction of the walking ability has not yet been transmitted to the walking training robot 3. Then, when it is determined that the first flag is set to ON, that is, when it is determined that the first measurement start instruction of the walking ability has already been transmitted to the walking training robot 3 (S253: NO). , The control device 80 proceeds to the process of step S258 described later. The first flag is set to OFF and stored in the RAM when the control device 80 is started.

On the other hand, when it is determined that the first flag is set to OFF, that is, when it is determined that the first measurement start instruction of the walking ability has not yet been transmitted to the walking training robot 3 (S253: YES). The control device 80 determines that the measurement of the comfortable walking speed of 10 m has not been started yet, and proceeds to the process of step S254. In step S254, the control device 80 voice-guides "Please walk at the walking speed" (walking speed related information, first teaching information) via the speaker 82, and the user before the start of measurement. Teach (subject) how fast to walk.

Subsequently, the control device 80 reads out the “arm swing walking level” indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user (subject) from the EEPROM. Then, the control device 80 teaches (voice-guides) "arm swing walking" to the subject corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in EEPROM. After reading out the "level content" and teaching (voice guidance) via the speaker 82, the process proceeds to step S255.

For example, as shown in FIG. 10, when the "arm swing walking level" read from the EEPROM is "level 1" where the difficulty level of the walking motion is the lowest, the control device 80 sets the arm swing walking level table 49 to "level 1". Read the content of the walking motion, "Please swing your arm normally and walk.", And teach (voice guidance) through the speaker 82. The "arm swing walking level" is set so that the difficulty level of the walking motion corresponding to each level increases in the order of level 1, level 2, level 3, ....

Further, as described above, physical therapy is performed before the measurement of the walking ability of 10 m comfortable walking speed and 10 m maximum walking speed is started, that is, immediately before or when the start button 90A (see FIG. 12) is pressed. A person in a facility such as a technician teaches (instructs) the user (subject) the number of laps (for example, 2 laps) of the walking speed measurement course 47 (see FIG. 7) at the time of each measurement.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally at the speed at which he / she is always walking", and the walking speed measurement course 47 (FIG. 7). (See), the arm swing walking of the "number of laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started.

Further, for example, as shown in FIG. 10, when the "arm swing walking level" read from the EEPROM is "level 2", the control device 80 subtracts 7 from 100 from the arm swing walking level table 49. While answering the numbers aloud in order, swing your arms normally and walk. ”, Read out the content of the walking motion and teach (voice guidance) through the speaker 82.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally at the speed at which he / she is always walking", and the walking speed measurement course 47 (FIG. 7). (See), the arm swing walking of the "number of laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started. At the same time, the user (subject) performs mental arithmetic by sequentially calculating the numbers obtained by subtracting 7 from 100, and while answering "93", "86", "79", ...

Therefore, when the user (subject) is proficient in the "level 1" "normally swinging the arm" walking motion, the "level 2" "arm swinging walking level content" is taught (voice guidance). As a result, the user (subject) needs to walk while "answering aloud by mentally calculating the numbers obtained by subtracting 7 from 100 in order" in addition to the operation of "level 1". The effect of dual task training can be maintained.

Subsequently, as shown in FIG. 22, in step S255, the control device 80 is instructed to start the execution of the above-mentioned "10 m walking speed measurement running control process" (see FIG. 17) via the communication device 87. After transmitting the "10m measurement start instruction command" to the walking training robot 3, the process proceeds to step S256. In step S256, the control device 80 reads the "first flag" indicating that the first measurement start instruction of the walking ability is transmitted to the walking training robot 3 from the RAM, sets the first flag to ON, and sets the first flag to ON. After storing in the RAM again, the process proceeds to step S257.

In step S257, the control device 80 reads the number N representing the number of times the walking ability is measured from the RAM, substitutes "1" representing the first time into this number N, stores it in the RAM again, and then processes in step S258. Proceed to. In step S258, the control device 80 determines whether or not "arm swing data" and "running data" have been received from the walking training robot 3 via the communication device 87.

As described above, the "arm swing data" is the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction (see FIG. 17). As described above, the "running data" is composed of the rotation speeds of the pair of left and right drive wheels 32L and 32R, the running distance of the walking training robot 3, and the running time of running this running distance (see FIG. 17). ).

Then, when it is determined that the "arm swing data" and the "running data" have not been received from the walking training robot 3 via the communication device 87 (S258: NO), the control device 80 determines the step S260 described later. Proceed to the processing of. On the other hand, when it is determined that the "arm swing data" and the "running data" have been received from the walking training robot 3 via the communication device 87 (S258: YES), the control device 80 proceeds to the process of step S259. ..

In step S259, the control device 80 stores the "arm swing data" and "running data" received from the walking training robot 3 in the EEPROM together with the reception date and time data in time series via the communication device 87, and then steps S260. Proceed to the processing of. In step S260, the control device 80 determines whether or not the measurement travel end signal (see FIG. 17) has been received from the walking training robot 3 via the communication device 87. That is, in the control device 80, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally at the walking speed", and the walking speed measurement course. According to 47 (see FIG. 7), it is determined whether or not the arm swing walking of the “number of laps” (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist has been completed.

Then, when it is determined that the measurement running end signal (see FIG. 17) has been received from the walking training robot 3 via the communication device 87 (S260: YES), the control device 80 proceeds to the process of step S261. In step S261, the control device 80 uses the "arm swing data" and "running data" stored in the EEPROM in time series as "comfortable walking information", and identifies the smartphone 5 as an identification ID and a user ID of the user. And, after being transmitted to the server 9 via the communication device 87, the "arm swing data" and the "running data" stored in the EEPROM in time series are deleted, and the process in step S262 is performed. move on.

In step S262, the control device 80 reads the number N representing the number of times the walking ability is measured from the RAM, substitutes "2" representing the second measurement into this number N, stores it in the RAM again, and then stores the sub. The process is completed, and the process proceeds to the sub-process of the "10 m measurement result notification process" in step S24.

On the other hand, when it is determined in step S260 that the measurement running end signal (see FIG. 17) has not been received from the walking training robot 3 via the communication device 87 (S260: NO), the control device 80 determines. The sub-processing is completed, and the process proceeds to the sub-processing of "10m measurement result notification processing" in step S24.

On the other hand, when it is determined in step S252 that the number of times N representing the number of times the walking ability is measured is "2", that is, it is the second measurement for measuring the walking ability (S252: YES), the control device. 80 proceeds to the process of step S263. In step S263, the control device 80 reads the "second flag" indicating that the second measurement start instruction of the walking ability is transmitted to the walking training robot 3 from the RAM, and is this second flag set to OFF? Judge whether or not. That is, the control device 80 determines whether or not the second measurement start instruction of the walking ability has not yet been transmitted to the walking training robot 3. The second flag is set to OFF and stored in the RAM when the control device 80 is started.

Then, when it is determined that the second flag is set to ON, that is, when it is determined that the second measurement start instruction of the walking ability has already been transmitted to the walking training robot 3 (S263: NO). , The control device 80 proceeds to the process of step S267 described later. On the other hand, when it is determined that the second flag is set to OFF, that is, when it is determined that the second measurement start instruction of the walking ability has not yet been transmitted to the walking training robot 3 (S263: YES). The control device 80 determines that the measurement of the maximum walking speed of 10 m has not been started yet, and proceeds to the process of step S264.

In step S264, the control device 80 voice-guides "Please walk as fast as possible" (walking speed related information, second teaching information) via the speaker 82 to the user (subject) before the start of measurement. Teach how fast you walk. Subsequently, the control device 80 reads out the “arm swing walking level” indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user (subject) from the EEPROM. Then, the control device 80 teaches (voice-guides) "arm swing walking" to the subject corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in EEPROM. After reading out the "level content" and teaching (voice guidance) via the speaker 82, the process proceeds to step S265.

For example, as shown in FIG. 10, when the "arm swing walking level" read from the EEPROM is "level 1" where the difficulty level of the walking motion is the lowest, the control device 80 sets the arm swing walking level table 49 to "level 1". Read the content of the walking motion, "Please swing your arm normally and walk.", And teach (voice guidance) through the speaker 82. The "arm swing walking level" is set so that the difficulty level of the walking motion corresponding to each level increases in the order of level 1, level 2, level 3, ....

Further, as described above, physical therapy is performed before the measurement of the walking ability of 10 m comfortable walking speed and 10 m maximum walking speed is started, that is, immediately before or when the start button 90A (see FIG. 12) is pressed. A person in a facility such as a technician teaches (instructs) the user (subject) the number of laps (for example, 2 laps) of the walking speed measurement course 47 (see FIG. 7) at the time of each measurement.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally and walks as fast as possible" to the walking speed measurement course 47 (see FIG. 7). Along with this, the arm swing walking of the "laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started.

Further, for example, as shown in FIG. 10, when the "arm swing walking level" read from the EEPROM is "level 2", the control device 80 subtracts 7 from 100 from the arm swing walking level table 49. While answering the numbers aloud in order, swing your arms normally and walk. ”, Read out the content of the walking motion and teach (voice guidance) through the speaker 82.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally and walks as fast as possible" to the walking speed measurement course 47 (see FIG. 7). Along with this, the arm swing walking of the "laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started. At the same time, the user (subject) performs mental arithmetic by sequentially calculating the numbers obtained by subtracting 7 from 100, and while answering "93", "86", "79", ...

Therefore, when the user (subject) is proficient in the "level 1" "normally swinging the arm" walking motion, the "level 2" "arm swinging walking level content" is taught (voice guidance). As a result, the user (subject) needs to walk while "answering aloud by mentally calculating the numbers obtained by subtracting 7 from 100 in order" in addition to the operation of "level 1". The effect of dual task training can be maintained.

Subsequently, as shown in FIG. 22, in step S265, the control device 80 is instructed to start the execution of the above-mentioned "10 m walking speed measurement running control process" (see FIG. 17) via the communication device 87. After transmitting the "10m measurement start instruction command" to the walking training robot 3, the process proceeds to step S266. In step S266, the control device 80 reads the "second flag" indicating that the second measurement start instruction of the walking ability is transmitted to the walking training robot 3 from the RAM, sets the second flag to ON, and sets the second flag to ON. After storing in the RAM again, the process proceeds to step S267.

In step S267, the control device 80 determines whether or not "arm swing data" and "running data" have been received from the walking training robot 3 via the communication device 87. As described above, the "arm swing data" is the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction (see FIG. 17). As described above, the "running data" is composed of the rotation speeds of the pair of left and right drive wheels 32L and 32R, the running distance of the walking training robot 3, and the running time of running this running distance (see FIG. 17). ).

Then, when it is determined that the "arm swing data" and the "running data" have not been received from the walking training robot 3 via the communication device 87 (S267: NO), the control device 80 has the control device 80 in step S269 described later. Proceed to the processing of. On the other hand, when it is determined that the "arm swing data" and the "running data" have been received from the walking training robot 3 via the communication device 87 (S267: YES), the control device 80 proceeds to the process of step S268. ..

In step S268, the control device 80 stores the "arm swing data" and the "running data" received from the walking training robot 3 in the EEPROM together with the reception date and time data in time series via the communication device 87, and then steps S269. Proceed to the processing of. In step S269, the control device 80 determines whether or not the measurement travel end signal (see FIG. 17) has been received from the walking training robot 3 via the communication device 87. That is, in the control device 80, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 3 and "swings his / her arm normally and walks as fast as he / she goes out", and the walking speed measurement course 47 ( (See FIG. 7), it is determined whether or not the arm swing walking of the “number of laps” (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist has been completed.

Then, when it is determined that the measurement running end signal (see FIG. 17) has been received from the walking training robot 3 via the communication device 87 (S269: YES), the control device 80 proceeds to the process of step S270. In step S270, the control device 80 uses the "arm swing data" and "running data" stored in the EEPROM in time series as "maximum walking information", and identifies the smartphone 5 as an identification ID and a user ID of the user. And, after being transmitted to the server 9 via the communication device 87, the "arm swing data" and the "running data" stored in the EEPROM in time series are deleted, and the process of step S271 is performed. move on.

In step S271, the control device 80 reads out the number of times N representing the number of times the walking ability is measured from the RAM, substitutes "0" for this number of times N to initialize, stores it in the RAM again, and then proceeds to the process of step S272. .. In step S272, the control device 80 reads the first flag, the second flag, and the 10m measurement start flag from the RAM, sets each to OFF, stores them in the RAM again, and then ends the sub-processing. The process proceeds to the sub-processing of "10m measurement result notification processing" in step S24.

On the other hand, when it is determined in step S269 that the measurement running end signal (see FIG. 17) has not been received from the walking training robot 3 via the communication device 87 (S269: NO), the control device 80 determines. The sub-processing is completed, and the process proceeds to the sub-processing of "10m measurement result notification processing" in step S24.

[10m measurement result notification processing]
Next, the sub-processing of the above-mentioned "10m measurement result notification processing" will be described with reference to FIG. 23. As shown in FIG. 23, first, in step S281, the control device 80 has 10 m evaluation result information to which an identification ID for identifying the smartphone 5 and a user ID of a user (subject) are added via the communication device 87. Is received from the server 9 or not. As will be described later, the 10m evaluation result information includes a 10m comfortable walking speed, a 10m maximum walking speed, and an arm swing walking level corresponding to the user ID of the user (subject) (see FIG. 24).

Then, when it is determined that the 10 m evaluation result information to which the identification ID for identifying the smartphone 5 and the user ID of the user (subject) is added is not received from the server 9 via the communication device 87 ( S281: NO), the control device 80 ends the sub-process, returns to the main flowchart, and ends the walking ability measurement process.

On the other hand, when it is determined that the 10m evaluation result information to which the identification ID for identifying the smartphone 5 and the user ID of the user (subject) is added via the communication device 87 is received from the server 9 (S281: YES), the control device 80 proceeds to the process of step S282. In step S282, the control device 80 associated the 10m comfortable walking speed, the 10m maximum walking speed, and the arm swing walking level, which constitute the 10m evaluation result information, with the user ID of the user (subject) and stored them in the EEPROM. After that, the process proceeds to step S283.

In step S283, after the control device 80 displays the user ID of the user (subject), the 10 m comfortable walking speed constituting the 10 m evaluation result information, the 10 m maximum walking speed, and the arm swing walking level on the display 81. , Ends the sub-processing, returns to the main flowchart, and ends the walking ability measurement processing. For example, the control device 80 has a user ID: XXXX, 10 m comfortable walking speed: 1.0 [m / sec], 10 m maximum walking speed: 2.7 [m / sec], and arm swing walking in the center of the display 81. Level: Displayed side by side in order from level 1 in the vertical direction to notify the user (subject).

[10m walking speed evaluation process]
Next, the "10m walking speed evaluation process" executed by the control device 93 of the server 9 will be described with reference to FIGS. 24 to 26. The program shown in the flowchart in FIGS. 24 to 26 is stored in advance in the EEPROM of the control device 93.

As shown in FIG. 24, first, in step S411, the control device 93 obtains an identification ID for identifying the smartphone 5, a user ID of a user (subject), and "comfortable walking information" via a communication device 97. It is determined whether or not the communication data composed of the above (see step S261 in FIG. 22) has been received. Then, when it is determined that the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "comfortable walking information" is not received via the communication device 97 (S411). : NO), the control device 93 proceeds to the process of step S417 described later.

On the other hand, when it is determined that the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "comfortable walking information" is received via the communication device 97 (S411: YES). ), The control device 93 proceeds to the process of step S412. In step S412, the control device 93 stores in the RAM the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "comfortable walking information" received via the communication device 97. After that, the process proceeds to step S413.

As described above, the "comfortable walking information" is composed of a plurality of "arm swing data" arranged in chronological order and a plurality of "running data" arranged in chronological order (see FIG. 22). ). Further, each "arm swing data" is composed of the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction. Further, each "running data" is composed of the rotation speeds of the pair of left and right drive wheels 32L and 32R, the mileage of the walking training robot 3, and the mileage traveled within this mileage (see FIG. 17). ).

In step S413, the control device 93 executes the sub-process (see FIG. 25) of the "10 m walking speed calculation process", and then proceeds to the process of step S414. Here, the sub-processing of the "10m walking speed calculation process" will be described with reference to FIG. 25.

As shown in FIG. 25, first, in step S511, the control device 93 sequentially reads out a plurality of "traveling data" arranged in time series constituting the "comfortable walking information" from the RAM. Then, in the control device 93, the walking training robot 3 measures the walking speed when the rotation speed difference between the left and right drive wheels 32L and 32R is equal to or less than the rotation speed difference threshold ΔR1 (see FIG. 8) in each “travel data”. It is determined that the vehicle has traveled (straight ahead) on the straight walking paths 47A and 47B of the course 47 (see FIG. 7) (see the upper part of FIG. After storing it in the RAM in time series as "data" (straight-ahead state time-series data), the process proceeds to step S512.

In step S512, the control device 93 sequentially reads out a plurality of "straight line section travel data" arranged in time series from the RAM. Then, the control device 93 calculates the traveling speed by dividing the traveling distance of the walking training robot 3 of each "straight section traveling data" by the traveling time, and calculates the traveling speed with the traveling speed of the immediately preceding "straight section traveling data". Calculate the difference. Subsequently, the control device 93 determines that the walking speed of the user (subject) is stable when this speed difference is equal to or less than the speed change threshold ΔV1 (see FIG. 8) (see the lower part of FIG. 8). After sequentially extracting the "straight section running data" of the constant speed portion and storing it in the RAM as "running data of the constant speed portion" in time series, the process proceeds to step S513.

In step S513, the control device 93 sequentially reads out a plurality of "running data of the constant speed portion" arranged in time series from the RAM. Then, the control device 93 cumulatively adds the mileage and the mileage of the walking training robot 3 of each "running data of the constant speed portion", calculates the cumulative mileage and the cumulative mileage, and stores them in the RAM. After that, the process proceeds to step S514.

In step S514, the control device 93 reads the cumulative mileage and the cumulative mileage from the RAM, divides the cumulative mileage by the cumulative mileage, calculates the average running speed [m / sec], and then steps S515. Process proceeds.

In step S515, the control device 93 uses the calculated average running speed [m / sec] when the walking training robot 3 travels on the straight walking paths 47A and 47B of the walking speed measuring course 47 (see FIG. 7). The walking speed of the user (subject) is stored in the RAM together with the cumulative mileage as a walking speed [m / sec] of 10 m in a stable constant speed portion. After that, the control device 93 ends the sub-processing, returns to the "10m walking speed evaluation process", and proceeds with the process of step S414. Therefore, the cumulative mileage is preferably 10 [m] or more.

Subsequently, as shown in FIG. 24, in step S414, the control device 93 reads the 10 m walking speed [m / sec] and the cumulative mileage from the RAM, and measures the 10 m comfortable walking speed and the 10 m comfortable walking speed. As the straight walking distance, the distance is linked to the user ID of the user (subject), and the date and time information is stored in the user-specific 10 m comfortable walking speed storage unit 96A (see FIG. 13) of the storage device 96 in chronological order, and then step S415. Proceed to the process of. In step S415, the control device 93 reads the comfortable walking flag indicating that the 10 m comfortable walking speed has been calculated from the RAM, sets it to ON, stores it in the RAM again, and then proceeds to the process of step S416. The comfortable walking flag is set to OFF when the control device 93 is started and stored in the RAM.

In step S416, the control device 93 executes the sub-process (see FIG. 26) of the “arm swing walking level evaluation process”, and then proceeds to the process of step S417. Here, the sub-processing of the "arm swing walking level evaluation process" will be described with reference to FIG. 26.

As shown in FIG. 26, first, in step S521, the control device 93 sequentially reads out a plurality of "running data of the constant speed portion" stored in the RAM in the RAM in order. Then, the control device 93 sequentially selects "arm swing data" corresponding to each "running data of the constant speed portion" among the plurality of "arm swing data" arranged in time series stored in the RAM in step S412. After extracting and storing it in the RAM as "constant speed partial arm swing data" in time series, the process proceeds to step S522.

In step S522, the control device 93 chronologically changes the amount of movement of the left and right grip handles 20L and 20R of the plurality of "constant speed partial arm swing data" arranged in chronological order from the shaft reference position Mz in the front-rear direction. The running time of a plurality of "running data of the constant speed part" arranged in the above is read out in order from the RAM. Then, the control device 93 uses this traveling time as the traveling time of the left and right grip handles 20L and 20R, and when the walking training robot 3 travels on the straight walking paths 47A and 47B of the walking speed measurement course 47 (see FIG. 7). , The "arm swing cycle" in the constant speed portion where the walking speed of the user (subject) is stable is sequentially calculated and stored in the RAM in time series. After that, the control device 93 reads out a plurality of "arm swing cycles" arranged in chronological order, calculates the variation of the "arm swing cycle", stores it in the RAM, and then proceeds to the process of step S523.

In step S523, the control device 93 reads the variation of the "arm swing cycle" calculated in step S522 from the RAM, and associates it with the user ID of the user (subject) as the variation of the current "arm swing cycle". After storing the date and time information in the user-specific arm swing walking level storage unit 96C of the storage device 96, the process proceeds to step S524. In step S524, the control device 93 determines the variation of the previous "arm swing cycle" stored in association with the user ID of the user (subject) from the user-specific arm swing walking level storage unit 96C of the storage device 96. The variation of the "arm swing cycle" this time is read out, and the process proceeds to step S525.

In step S525, whether the variation of the previous "arm swing cycle" read in step S524 and the variation of the current "arm swing cycle" are both equal to or less than the variation threshold (first reference). Judge whether or not. The variation threshold value is stored in advance in the EEPROM of the control device 93. Then, when it is determined that at least one of the variation of the previous "arm swing cycle" and the variation of the current "arm swing cycle" is larger than the variation threshold value (S525: NO), the control device. 93 ends the sub-processing, returns to the “10m walking speed evaluation process”, and proceeds with the process of step S417.

On the other hand, when it is determined that both the variation of the previous "arm swing cycle" and the variation of the current "arm swing cycle" are equal to or less than the variation threshold value (S525: YES), the control device 93 is stepped. Proceed to the process of S526. In step S526, the control device 93 reads out the "arm swing walking level" stored in the user-specific arm swing walking level storage unit 96C of the storage device 96 in association with the user ID of the user (subject), and this "arm swing walking level" is read out. The "arm swing walking level" is reset to the "arm swing walking level" one step higher, and the arm swing walking level is stored in the user-specific arm swing walking level storage unit 96C again in association with the user ID of the user (subject). After that, the control device 93 ends the sub-processing, returns to the "10m walking speed evaluation process", and proceeds with the process of step S417.

When the control device 93 first stores the "arm swing walking level" in the user-specific arm swing walking level storage unit 96C in association with the user ID of the user (subject), the control device 93 sets the "arm swing walking level" to the "arm swing walking level". “Level 1” (see FIG. 10) is set and stored in the user-specific arm swing walking level storage unit 96C.

Subsequently, as shown in FIG. 24, in step S417, the control device 93 sets the identification ID for identifying the smartphone 5, the user ID of the user (subject), and the "maximum walking information" via the communication device 97. It is determined whether or not the communication data composed of (see step S270 in FIG. 22) has been received. Then, when it is determined that the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "maximum walking information" is not received via the communication device 97 (S417). : NO), the control device 93 proceeds to the process of step S422 described later.

On the other hand, when it is determined that the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "maximum walking information" is received via the communication device 97 (S417: YES). ), The control device 93 proceeds to the process of step S418. In step S418, the control device 93 stores in the RAM the communication data composed of the identification ID for identifying the smartphone 5, the user ID of the user, and the "maximum walking information" received via the communication device 97. After that, the process proceeds to step S419.

As described above, the "maximum walking information" is composed of a plurality of "arm swing data" arranged in chronological order and a plurality of "running data" arranged in chronological order (see FIG. 22). ). Further, each "arm swing data" is composed of the amount of movement of the left and right grip handles 20L and 20R from the shaft reference position Mz in the front-rear direction. Further, each "running data" is composed of the rotation speeds of the pair of left and right drive wheels 32L and 32R, the mileage of the walking training robot 3, and the mileage traveled within this mileage (see FIG. 17). ).

In step S419, the control device 93 executes the sub-process (see FIG. 25) of the "10 m walking speed calculation process" executed in step S413, and then proceeds to the process of step S420. In step S420, the control device 93 reads out the 10 m walking speed [m / sec] and the cumulative mileage from the RAM, and sets the user (subject) as a straight walking path distance in which the 10 m maximum walking speed and the 10 m maximum walking speed are measured. After storing the date and time information in the user-specific 10 m maximum walking speed storage unit 96B (see FIG. 13) of the storage device 96 in chronological order, the process proceeds to step S421.

In step S421, the control device 93 reads the maximum walking flag indicating that the maximum walking speed of 10 m has been calculated from the RAM, sets it to ON, stores it in the RAM again, and then proceeds to the process of step S422. The maximum walking flag is set to OFF when the control device 93 is started and stored in the RAM. Then, in step S422, the control device 93 reads the comfortable walking flag and the maximum walking flag from the RAM, and determines whether or not both the comfortable walking flag and the maximum walking flag are set to ON. That is, the control device 93 calculates both the 10 m comfortable walking speed and the 10 m maximum walking speed, and determines whether or not they are stored in the storage device 96 in time series.

Then, when it is determined that at least one of the comfortable walking flag and the maximum walking flag is set to OFF, that is, it is determined that at least one of the 10 m comfortable walking speed and the 10 m maximum walking speed has not been calculated yet. If so (S422: NO), the control device 93 ends the process.

On the other hand, when it is determined that both the comfortable walking flag and the maximum walking flag are set to ON, that is, the 10m comfortable walking speed and the 10m maximum walking speed are both calculated and stored in the storage device 96 in time series. If it is determined (S422: YES), the control device 93 proceeds to the process of step S423.

In step S423, the control device 93 reads the user ID of the user (subject) stored in the RAM in step S412 from the RAM. Then, the control device 93 reads out the latest 10 m comfortable walking speed, the latest 10 m maximum walking speed, and the arm swing walking level corresponding to the user ID of the user (subject) from the storage device 96, and 10 m evaluation result information. Is stored in the RAM. Then, the control device 93 reads out the 10m evaluation result information from the RAM, displays it on the display 94 together with the user ID of the user (subject), and then proceeds to the process of step S424.

For example, the control device 93 has a user ID: XXXX, 10 m comfortable walking speed: 1.0 [m / sec], 10 m maximum walking speed: 2.7 [m / sec], and arm swing walking in the center of the display 94. Level: Displayed in order from level 1 in the vertical direction to notify people and users (subjects) of facilities such as physical therapists.

In step S424, the control device 93 reads out the identification ID for identifying the smartphone 5 stored in the RAM in step S412 and the user ID of the user (subject) from the RAM. Then, the control device 93 reads out the latest 10 m comfortable walking speed, the latest 10 m maximum walking speed, and the arm swing walking level corresponding to the user ID of the user (subject) from the storage device 96, and 10 m evaluation result information. Is stored in the RAM. Subsequently, the control device 93 creates communication data in which the identification ID for identifying the smartphone 5 and the user ID of the user (subject) are added to the 10 m evaluation result information, and the smartphone 5 is connected to the smartphone 5 via the communication device 97. After transmission, the process proceeds to step S425.

In step S425, the control device 93 reads the comfortable walking flag and the maximum walking flag from the RAM, sets both the comfortable walking flag and the maximum walking flag to OFF, stores them in the RAM again, and then ends the process.

Here, the control device 80, the display 81, and the operation unit 85 form an example of the measurement instruction receiving unit. The control device 40 and the traveling speed detection devices 33LE and 33RE form an example of the traveling data acquisition unit. The control device 93 and the storage device 96 constitute an example of the walking ability evaluation unit. The traveling speed detection devices 33LE and 33RE function as an example of the rotation speed detection device. The electric motors 33L and 33R function as an example of a traveling drive device.

The control device 40 functions as an example of the travel control device. The control device 93 functions as an example of a data extraction unit, a walking speed calculation unit, a cumulative calculation unit, a rotation speed difference determination unit, and a first proficiency level determination unit. The control device 80 and the speaker 82 constitute an example of a teaching unit and an operation teaching unit. The control device 93 and the communication device 97 form an example of the arm swing information acquisition unit. The control device 93 and the storage device 96 constitute an example of the first proficiency level evaluation unit.

As described in detail above, in the walking ability evaluation system 1 according to the first embodiment, a person in a facility such as a physiotherapist first sets the lock switching levers 23L and 23R of the walking training robot 3 to, for example, the front side ( Slide toward the X-axis direction) and set the grip handles 20L and 20R so that they can swing their arms while walking. Then, a person in a facility such as a physiotherapist presses the 10m measurement button 90F displayed on the display 81 of the smartphone 5, and before the start of measurement of walking ability, that is, before pressing the start button 90A, the user. The (subject) is taught (instructed) the number of laps of the walking speed measurement course 47.

After that, when a person in a facility such as a physiotherapist presses the start button 90A displayed on the display 81 of the smartphone 5, the control device 80 of the smartphone 5 first measures a comfortable walking speed of 10 m via the speaker 82. To teach the user (subject) the walking speed and arm swing walking motion for this purpose. Then, according to the operation instruction of the control device 80, the user (subject) circulates the walking speed measurement course 47 by arm swing walking by the walking training robot 3 and stops by the instructed number of times.

Subsequently, the control device 80 teaches the user (subject) the walking speed and the arm swing walking motion for measuring the maximum walking speed of 10 m via the speaker 82. Then, according to the operation instruction of the control device 80, the user (subject) circulates the walking speed measurement course 47 by arm swing walking by the walking training robot 3 and stops by the instructed number of times.

As a result, the rotation speeds of the pair of left and right drive wheels 32L and 32R detected by the control device 40 of the walking training robot 3, the mileage of the walking training robot 3, the running time traveled over this mileage, and the left and right grip handles. Time-series data of the amount of movement in the front-rear direction from the shaft reference position Mz of 20L and 20R is transmitted to the server 9 via the smartphone 5. The control device 93 of the server 9 calculates the user (subject)'s 10 m comfortable walking speed, 10 m maximum walking speed, and arm swing walking level based on these received time-series data, and the user (subject) user ID. Is displayed on the display 94 in association with.

Therefore, it is no longer necessary for a person at a facility such as a physiotherapist to accompany the user (subject) during the measurement of the 10 m comfortable walking speed and the 10 m maximum walking speed, and the labor saving required when measuring the walking ability. Can be achieved. Further, when measuring the 10 m comfortable walking speed and the 10 m maximum walking speed of the user (subject), the user (subject) walks after a person in a facility such as a physiotherapist presses the start button 90A of the smartphone 5. Since the operation of the training robot 3 may be started and walking may be started, the measurement of walking ability can be started quickly.

Further, even when only a straight walking path having a walking distance shorter than 16 m can be set on the floor surface 46A of the walking speed measuring room 46, the user (subject) orbits the walking speed measuring course 47 using the walking training robot 3. Thereby, the walking ability of the user (subject) can be evaluated by calculating the 10 m comfortable walking speed and the 10 m maximum walking speed. As a result, it is possible to save space in the size of the walking speed measuring room 46 required for measuring the walking ability of the user (subject).

In the control device 93 of the server 9, when the variation of the arm swing cycle between the previous time and the current time of the user (subject) at the time of measuring the comfortable walking speed of 10 m is equal to or less than the variation threshold, the user (subject) walks by swinging the arm. Judging that he is proficient in movement, he sets the arm swing walking level one step higher. As a result, the difficulty level of the arm swing walking motion at the time of measuring the 10 m comfortable walking speed and the 10 m maximum walking speed of the user (subject) increases. As a result, the user (subject) changes the movement of the arm swing walking when measuring the 10m comfortable walking speed and the 10m maximum walking speed, and walks with an unfamiliar arm swing walking movement. You will need to do so and you will be able to maintain the effectiveness of your dual task training.

[Second Embodiment]
Next, the walking ability evaluation system 101 according to the second embodiment will be described with reference to FIGS. 27 to 34. The same reference numeral as the walking ability evaluation system 1 according to the first embodiment indicates the same or equivalent portion as the walking ability evaluation system 1 according to the first embodiment.

The walking ability evaluation system 101 according to the second embodiment has substantially the same configuration as the walking ability evaluation system 1 according to the first embodiment. However, as shown in FIG. 27, the walking ability evaluation system 101 includes a walking training robot 102 and a server 9. The walking training robot 102 and the server 9 are configured to be capable of transmitting and receiving information data by wireless communication to and from each other via Wi-Fi (registered trademark) or the like via a network 7 such as the Internet.

As shown in FIG. 27, the walking training robot 102 according to the second embodiment has almost the same configuration as the walking training robot 3. However, in the walking training robot 102, instead of the smartphone 5 and the mounting member 18, the display device 103 is provided on the front side portion of the upper end surface of the shaft holding portion 22R from the main switch 29. The display device 103 may be provided on the upper end surface of the shaft holding portion 22L. Further, the control device 40 is electrically connected to the communication device 37 instead of the communication device 35. The control device 40 is configured to be capable of transmitting and receiving information data by wireless communication with the server 9 by Wi-Fi (registered trademark) or the like via a network 7 such as the Internet via a communication device 37.

As shown in FIG. 28, the display device 103 is arranged below the display 104 including a liquid crystal display, the speaker 105 arranged above the upper end edge portion of the display 104, and the lower end edge portion of the display 104. It includes an operation unit 107 including a microphone 106 and a touch panel or the like that covers the entire display screen of the display 104.

[Control configuration of walking training robot 102]
As shown in FIG. 29, the control configuration of the walking training robot 102 is substantially the same as that of the walking training robot 3 according to the first embodiment. Therefore, the control device 40 housed in the house box 14 drives and controls the entire walking training robot 102.

However, as shown in FIG. 29, the communication device 37 is electrically connected instead of the communication device 35 (see FIG. 1). The control device 40 is configured to be connectable to a network 7 (see FIG. 27) such as the Internet via Wi-Fi (registered trademark) or the like via a communication device 37. Further, the display 104, the speaker 105, the microphone 106, the operation unit 107, and the like constituting the display device 103 are electrically connected to the control device 40.

Then, the control device 40 inputs a voice detection signal from the microphone 106, an operation signal corresponding to the operation of the touch panel or the like by the user from the operation unit 107, or the like. Further, the control device 40 outputs an image display signal for displaying images such as various icons and various input buttons on the display 104, and teaches the speaker 105 the walking speed and the content of the arm swing walking motion when measuring the walking ability. Outputs a drive signal that outputs a teaching voice.

Further, the control device 40 is an arm swing walking level table that stores the contents of the arm swing walking motion to be taught (voice-guided) to the subject before the measurement of the walking ability of the 10 m comfortable walking speed or the 10 m maximum walking speed is started. 49 (see FIG. 10) is stored in the EEPROM in advance. As shown in FIG. 10, the arm swing walking level table 49 is instructed to the subject corresponding to the “arm swing walking level” indicating the difficulty level of the arm swing walking motion and the arm swing walking level as described later. (Voice guidance) "Arm swing walking level content" is stored in correspondence with it (see FIG. 32).

[Details of walking training control]
Next, when the user performs walking training using the walking training robot 102 of the walking ability evaluation system 101 configured as described above, the control device 40 of the walking training robot 102 and the control device 93 of the server 9 perform the walking training. The processing procedure will be described with reference to FIGS. 30 to 34.

The control device 93 of the server 9 executes the “10 m walking speed evaluation process” shown in FIG. 24 at predetermined time intervals (for example, several [ms] intervals) as in the walking ability evaluation system 1 according to the first embodiment. Then, the process proceeds to step S411, and the processes after step S411 are executed. In step S424, the control device 93 of the server 9 reads out from the RAM the "identification ID" that identifies the walking training robot 102 stored in the RAM in step S412 and the "user ID" of the user (subject).

Then, the control device 93 reads out the latest 10 m comfortable walking speed, the latest 10 m maximum walking speed, and the arm swing walking level corresponding to the user ID of the user (subject) from the storage device 96, and 10 m evaluation result information. Is stored in the RAM. Subsequently, the control device 93 adds the "identification ID" of the walking training robot 102 and the user ID of the user (subject) to the 10m evaluation result information, and adds the user ID of the user (subject) to the walking training robot 102 via the communication device 97. After transmission, the process proceeds to step S425. Then, after executing the process of step S425, the control device 93 ends the 10 m walking speed evaluation process.

When the user turns on the main switch 29 of the walking training robot 102, the control device 40 of the walking training robot 102 is activated, and as shown on the left side of FIG. 28, the walking training robot is displayed on the display 104 of the display device 103. The user registration screen 109 for registering the name or user ID of the user who uses 102 is displayed, and the display device 103 is made to function as a user registration operation panel.

Specifically, as shown on the left side of FIG. 28, the control device 40 displays the character button 81G in the center of the display 104, and displays the name or user ID entered by pressing the character button 81G. The column 81F is displayed above the character button 81G. Further, the control device 40 displays a registration button 81H instructing to register the name or user ID displayed in the display field 81F on the lower right side of the character button 81G.

Then, as shown on the left side of FIG. 28, the user presses the character button 81G and displays the name or user ID of the user who uses the walking training robot 102 in the display field 81F. After that, when the user presses the registration button 81H with the finger 89, the control device 40 stores the user name or the user ID in the EEPROM, and then displays the display device 103 on the walking training robot 102, for example, as shown on the right side of FIG. 28. In addition to functioning as an operation panel of the above, a walking training program including a program of the second walking training support process (see FIG. 30) described later is started and executed.

Specifically, as shown on the right side of FIG. 28, the control device 40 includes a start button 90A, an end button 90B, a hand push mode button 90C, an arm swing mode button 90D, a battery remaining amount display unit 90E, and a 10m measurement button 90F. The operation panel screen 90 on which the drive torque adjusting unit 90G and the like are displayed is displayed on the display 104. Further, the control device 40 detects that each of the buttons 90A to 90D, 90F, etc. is pressed by the finger 89 via the operation unit 107 composed of a touch panel or the like.

For example, when the start button 90A displayed on the display 104 is pressed, the running control of the walking training robot 102 is started. When the end button 90B is pressed, the running control of the walking training robot 102 is stopped. When the hand push mode button 90C is pressed, the operation mode of the walking training robot 102 is set to the assist mode. When the arm swing mode button 90D is pressed, the operation mode of the walking training robot 102 is set to the arm swing training mode. When the 10m measurement button 90F is pressed, the operation mode of the walking training robot 3 is set to the arm swing training mode, and the walking ability of the user (subject) is measured as described later.

The battery remaining amount display unit 90E displays the battery remaining amount of the battery B of the walking training robot 102. The drive torque adjusting unit 90G is an input unit for the user to adjust the strength of the drive torque of the electric motors 33L and 33R when the walking training robot 102 advances. For example, when the walking training robot 102 is used on an uphill slope, the user inputs an instruction to increase the drive torque from the drive torque adjusting unit 90G.

[Second walking training support process]
Next, the "second walking training support process" executed by the control device 40 of the walking training robot 102 will be described with reference to FIGS. 30 to 34. The program shown in the flowchart in FIGS. 30 to 34 is stored in the EEPROM of the control device 40 in advance.

As shown in FIG. 30, first, in step S41, the control device 40 is the "mode selection process" of step S21 of the above-mentioned "walking ability measurement process" (see FIG. 19) executed by the control device 80 of the smartphone 5. After executing the sub-processing (see FIG. 20), the process proceeds to the process of step S42. In step S42, the control device 40 executes the sub-process (see FIG. 31) of the "second start / stop process", and then proceeds to the process of step S43. In step S43, the control device 40 executes a sub-process (see FIG. 16) of the "normal running control process" of step S12 of the above-mentioned "walking training process" (see FIG. 14), and then proceeds to the process of step S44. ..

In step S44, the control device 40 executes the sub-process (see FIG. 32) of the “10 m measurement information acquisition process 2”, and then proceeds to the process of step S45. In step S45, the control device 40 executes the sub-process (see FIG. 33) of the “10 m walking speed measurement travel control process 2”, and then proceeds to the process of step S46. In step S46, the control device 40 is a sub-process (see FIG. 23) of the “10 m measurement result notification process” in step S24 of the above-mentioned “walking ability measurement process” (see FIG. 19) executed by the control device 80 of the smartphone 5. After executing, the process proceeds to step S47. In step S47, the control device 40 ends the second walking training support process after executing the “second battery process” (see FIG. 34).

The control device 40 is a sub-process (FIG. 23) of the “10 m measurement result notification process” in step S24 of the above-mentioned “walking ability measurement process” (see FIG. 19) executed by the control device 80 of the smartphone 5 in step S46. When executing (see), in step S283, the user ID of the user (subject), the 10 m comfortable walking speed constituting the 10 m evaluation result information, the 10 m maximum walking speed, and the arm swing walking level are displayed 104. After displaying in, the sub-process is terminated, and the process proceeds to the process of step S47.

[Second start / stop processing]
Next, the sub-processing of the "second start / stop processing" in step S42 will be described with reference to FIG. As shown in FIG. 31, first, in step S601, in the control device 40, the start button 90A (see FIG. 28) of the operation panel screen 90 (see FIG. 28) displayed on the display 104 is fingered 89 (see FIG. 28). ) To determine whether or not it was pressed.

The user presses the start button 90A with the finger 89 when starting walking by walking training in the arm swing training mode or walking support in the assist mode. When the user (subject) measures the walking ability at a comfortable walking speed of 10 m and a maximum walking speed of 10 m, a person at a facility such as a physiotherapist takes a walking speed measurement course 47 at each measurement (see FIG. 7). After teaching (instructing) the user (subject) the number of laps of the above (for example, instructing the user (subject) to lap two laps at a time), the start button 90A is pressed with a finger 89.

Then, when it is determined that the start button 90A is pressed by the finger 89 (S601: YES), the control device 40 proceeds to the process of step S602. In step S602, the control device 40 reads the training flag from the RAM and determines whether or not the training flag is set to ON. Then, when it is determined that the training flag is set to OFF (S602: NO), the control device 40 proceeds to the process of step S604 described later. On the other hand, if it is determined that the training flag is set to ON (S602: YES), the control device 40 proceeds to the process of step S603.

In step S603, the control device 40 reads the training start flag from the RAM, sets the training start flag to ON, stores it in the RAM again, and then proceeds to the process of step S604. In step S604, the control device 40 reads the assist flag from the RAM and determines whether or not the assist flag is set to ON. Then, when it is determined that the assist flag is set to OFF (S604: NO), the control device 40 proceeds to the process of step S606 described later. On the other hand, if it is determined that the assist flag is set to ON (S604: YES), the control device 40 proceeds to the process of step S605.

In step S605, the control device 40 reads the assist start flag from the RAM, sets the assist start flag to ON, stores it in the RAM again, and then proceeds to the process of step S606. In step S606, the control device 40 reads the 10m measurement flag from the RAM and determines whether or not the 10m measurement flag is set to ON. When it is determined that the 10 m measurement flag is set to OFF (S606: NO), the control device 40 ends the sub-process and subprocesses the "normal travel control process" in step S43. Proceed to.

On the other hand, when it is determined that the 10m measurement flag is set to ON (S606: YES), the control device 40 proceeds to the process of step S607. In step S607, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to ON, stores it in the RAM again, ends the sub-processing, and ends the sub-processing, and “normally” in step S43. Proceed to the sub-processing of "travel control processing". When the control device 40 is started, the training start flag, the assist start flag, and the 10m measurement flag are set to OFF and stored in the RAM.

On the other hand, if it is determined in step S601 that the start button 90A is not pressed by the finger 89 (S601: NO), the control device 40 proceeds to the process of step S608. In step S608, the control device 40 determines whether or not the end button 90B (see FIG. 28) of the operation panel screen 90 (see FIG. 28) displayed on the display 104 is pressed by the finger 89 (see FIG. 28). do. In addition, when the user finishes the measurement of the walking ability in the walking training in the arm swing training mode, the walking support in the assist mode, or the walking ability of 10 m comfortable walking speed or 10 m maximum walking speed, the user finishes the measurement. Press the end button 90B with the finger 89.

Then, when it is determined that the end button 90B is not pressed by the finger 89 (S608: NO), the control device 40 ends the sub process and is a sub of the "normal travel control process" in step S43. Proceed to processing. As a result, when the user is walking with walking training in the arm swing training mode or walking support in the assist mode, or when the walking ability of 10 m comfortable walking speed or 10 m maximum walking speed is measured. In that state, walking using the walking training robot 102 is continued.

On the other hand, if it is determined that the end button 90B is pressed by the finger 89 (S608: YES), the control device 40 proceeds to the process of step S609. In step S609, the control device 40 reads the training start flag, the assist start flag, and the 10m measurement start flag from the RAM, sets each to OFF, stores them in the RAM again, and then ends the sub-processing. Then, the process proceeds to the sub-process of the "normal travel control process" in step S43. As a result, the walking training robot 102 is stopped (see FIG. 16).

[10m measurement information acquisition process 2]
Next, the sub-processing of the "10m measurement information acquisition process 2" in step S44 will be described with reference to FIG. 32. As shown in FIG. 32, first, the control device 40 is a sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process" executed by the control device 80 of the smartphone 5 according to the first embodiment (steps S251 to step). The process of S252 is executed. Then, when it is determined that the number of times N is not "2", that is, the number of times N is "0" or "1" (S252: NO), the control device 40 executes the process of step S253. If it is determined that the first flag is set to ON (S253: NO), the process proceeds to step S622 described later. The first flag is set to OFF and stored in the RAM when the control device 40 is started.

On the other hand, when it is determined that the first flag is set to OFF (S253: YES), the control device 40 performs the process of step S254 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process". After executing, the process proceeds to step S621. Therefore, the control device 40 teaches the user (subject) before the start of measurement the walking speed by voice-guided "Please walk at the walking speed at all times" via the speaker 105.

Subsequently, the control device 40 reads out from the EEPROM the "arm swing walking level" indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user (subject). Then, the control device 40 teaches (voice-guides) "arm swing walking" to the subject corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in EEPROM. "Level content" is read out and taught (voice guidance) via the speaker 105.

For example, as shown in FIG. 10, when the “arm swing walking level” is “level 1” where the difficulty level of the walking motion is the lowest, the control device 40 “normally swings the arm from the arm swing walking level table 49”. Read the content of the walking motion, "Please shake and walk.", And teach (voice guidance) via the speaker 105.

Further, as described above, physical therapy is performed before the measurement of the walking ability of the 10 m comfortable walking speed and the 10 m maximum walking speed is started, that is, immediately before or when the start button 90A (see FIG. 28) is pressed. A person in a facility such as a technician teaches (instructs) the user (subject) the number of laps (for example, 2 laps) of the walking speed measurement course 47 (see FIG. 7) at the time of each measurement.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 102, "swings his / her arm normally at the speed at which he / she is always walking", and walks at the walking speed measurement course 47 (FIG. 7). (See), the arm swing walking of the "number of laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started.

Subsequently, in step S621, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to ON, and stores the 10m measurement start flag in the RAM again. After that, the control device 40 executes the processes of steps S256 to S257 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process", and then proceeds to the process of step S622. In step S622, the control device 40 reads the "measurement run end flag" from the RAM, and determines whether or not the measurement run end flag is set to ON. That is, the control device 40 determines whether or not the walking of the user (subject) for measuring the comfortable walking speed of 10 m has been completed.

When it is determined that the measurement running end flag is set to OFF (S622: NO), the control device 40 allows the user (subject) to go around the walking speed measurement course 47 (see FIG. 7). It is determined that the swing walking is continued, the sub-process is terminated, and the process proceeds to the sub-process of "10 m walking speed measurement running control process 2" in step S45.

On the other hand, when it is determined that the measurement running end flag is set to ON (S622: YES), the control device 40 allows the user (subject) to go around the walking speed measurement course 47 (see FIG. 7). After determining that the swing walking is completed, the processes of steps S261 to S262 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process" are executed, and then the process proceeds to step S623. In step S623, the control device 40 reads the measurement run end flag from the RAM, sets the measurement run end flag to OFF, stores the measurement run end flag in the RAM again, and then ends the sub-processing. Proceed to the sub-processing of "10m walking speed measurement running control process 2".

On the other hand, if the control device 40 determines in step S252 that the number of times N representing the number of times the walking ability is measured is "2" (S252: YES), the control device 40 executes the process of step S263. If it is determined that the second flag is set to ON (S263: NO), the process proceeds to step S625 described later. The second flag is set to OFF and stored in the RAM when the control device 40 is started.

On the other hand, when it is determined that the second flag is set to OFF (S263: YES), the control device 40 performs the process of step S264 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process". After executing, the process proceeds to step S624. Therefore, the control device 40 teaches the user (subject) before the start of measurement the walking speed by voice-guided "Please walk as fast as possible" via the speaker 105.

Subsequently, the control device 40 reads out from the EEPROM the "arm swing walking level" indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user (subject). Then, the control device 40 teaches (voice-guides) "arm swing walking" to the subject corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in EEPROM. "Level content" is read out and taught (voice guidance) via the speaker 105.

For example, as shown in FIG. 10, when the “arm swing walking level” is “level 1” where the difficulty level of the walking motion is the lowest, the control device 40 “normally swings the arm from the arm swing walking level table 49”. Read the content of the walking motion, "Please shake and walk.", And teach (voice guidance) via the speaker 105.

As a result, the user (subject) grasps each of the grip handles 20L and 20R of the walking training robot 102, "swings the arm normally and walks as fast as possible", and enters the walking speed measurement course 47 (see FIG. 7). Along with this, the arm swing walking of the "laps" (for example, 2 laps) instructed (instructed) by a person in a facility such as a physiotherapist is started.

Subsequently, in step S624, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to ON, and stores the 10m measurement start flag in the RAM again. After that, the control device 40 executes the process of step S266 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process", and then proceeds to the process of step S625. In step S625, the control device 40 reads the "measurement run end flag" from the RAM, and determines whether or not the measurement run end flag is set to ON. That is, the control device 40 determines whether or not the user (subject) has finished walking for measuring the maximum walking speed of 10 m.

When it is determined that the measurement running end flag is set to OFF (S625: NO), the control device 40 allows the user (subject) to go around the walking speed measurement course 47 (see FIG. 7). It is determined that the swing walking is continued, the sub-process is terminated, and the process proceeds to the sub-process of "10 m walking speed measurement running control process 2" in step S45.

On the other hand, when it is determined that the measurement running end flag is set to ON (S625: YES), the control device 40 allows the user (subject) to go around the walking speed measurement course 47 (see FIG. 7). After determining that the swing walking is completed, the processes of steps S270 to S272 of the sub-process (FIG. 22) of the above-mentioned "10 m measurement information acquisition process" are executed, and then the process proceeds to step S626. In step S626, the control device 40 reads the measurement run end flag from the RAM, sets the measurement run end flag to OFF, stores the measurement run end flag in the RAM again, and then ends the sub-processing. Proceed to the sub-processing of "10m walking speed measurement running control process 2".

[10m walking speed measurement running control process 2]
Next, the sub-processing of the "10m walking speed measurement running control process 2" in step S45 will be described with reference to FIG. 33. As shown in FIG. 33, in the sub-processing of the "10m walking speed measurement running control process 2", the control device 40 of the walking training robot 3 according to the first embodiment is the above-mentioned "walking training support process" (see FIG. 14). This is almost the same process as the sub process (see FIG. 17) of the “10 m walking speed measurement running control process” executed in step S13 of.

However, the control device 40 of the walking training robot 102 according to the second embodiment replaces the processing of step S137 of the sub-processing (see FIG. 17) of the above-mentioned "10m walking speed measurement traveling control processing" with the processing of step S631. It differs in that it executes. Further, the control device 40 of the walking training robot 102 is different in that the process of step S632 is executed instead of the process of step S139 of the sub-process (see FIG. 17) of the "10 m walking speed measurement travel control process". ..

In step S631, the control device 40 reads out from the RAM the "arm swing data" stored in the RAM in step S134 and the "travel data" stored in the RAM in step S136. Then, the control device 40 stores the "arm swing data" and the "running data" in the EEPROM together with the reception date / time data in time series, and then proceeds to the process of step S138.

Further, in step S632, the control device 40 determines that the arm swing walking by the user (subject) for measuring the "10 m comfortable walking speed" or the "10 m maximum walking speed" has been completed, and sets the measurement running end flag. After reading from the RAM, setting this measurement running end flag to ON, and storing the measurement in the RAM again, the process proceeds to step S140. The measurement run end flag is set to OFF when the control device 40 is started and stored in the RAM.

Then, in step S140, the control device 40 reads the 10m measurement start flag from the RAM, sets the 10m measurement start flag to OFF, stores the 10m measurement start flag in the RAM again, ends the sub-processing, and ends the sub-processing in step S46. Proceed to the sub-processing of "10m measurement result notification processing".

Further, as shown in FIG. 33, in the sub-process of "10 m walking speed measurement travel control process 2", in step S132, the control device 40 stops driving the left and right electric motors 33L and 33R to drive left and right. After stopping the wheels 32L and 32R, the sub-processing is terminated, and the process proceeds to the sub-processing of the "step result notification processing" in step S46.

[Second battery processing]
Next, the sub-processing of the "second battery processing" in step S47 will be described with reference to FIG. 34. As shown in FIG. 34, in step S641, the control device 40 determines the battery remaining amount of the battery B from the battery remaining amount (SOC) detection signal input from the battery remaining amount detecting device (not shown) provided in the battery B. After the detection, the process proceeds to step S642. In step S642, the control device 40 displays the battery remaining amount (SOC) on the battery remaining amount display unit 90E (see FIG. 28), then ends the sub-processing, and ends the second walking training support processing. ..

Here, the control device 40, the display 104, and the operation unit 107 form an example of the measurement instruction receiving unit. The control device 40 and the traveling speed detection devices 33LE and 33RE form an example of the traveling data acquisition unit. The control device 93 and the storage device 96 constitute an example of the walking ability evaluation unit. The traveling speed detection devices 33LE and 33RE function as an example of the rotation speed detection device. The electric motors 33L and 33R function as an example of a traveling drive device.

The control device 40 functions as an example of the travel control device. The control device 93 functions as an example of a data extraction unit, a walking speed calculation unit, a cumulative calculation unit, a rotation speed difference determination unit, and a first proficiency level determination unit. The control device 40 and the speaker 105 constitute an example of a teaching unit and an operation teaching unit. The control device 93 and the communication device 97 form an example of the arm swing information acquisition unit. The control device 93 and the storage device 96 constitute an example of the first proficiency level evaluation unit.

As described in detail above, in the walking ability evaluation system 101 according to the second embodiment, a person in a facility such as a physiotherapist first sets the lock switching levers 23L and 23R of the walking training robot 102, for example, on the front side ( Slide toward the X-axis direction) and set the grip handles 20L and 20R so that they can swing their arms while walking. Then, a person in a facility such as a physiotherapist presses the 10 m measurement button 90F displayed on the display 104 of the display device 103, and before the start of measurement of walking ability, that is, before pressing the start button 90A. The user (subject) is instructed (instructed) about the number of laps of the walking speed measurement course 47.

After that, when a person in a facility such as a physiotherapist presses the start button 90A displayed on the display 104 of the display device 103, the control device 40 of the walking training robot 102 first receives a comfortable walking speed of 10 m via the speaker 105. The user (subject) is taught the walking speed and the arm-swinging walking motion for the measurement of. Then, according to the operation instruction of the control device 40, the user (subject) circulates the walking speed measurement course 47 by arm swing walking by the walking training robot 102 and stops the walking speed measurement course 47 as many times as instructed.

Subsequently, the control device 40 teaches the user (subject) the walking speed and the arm swing walking motion for measuring the maximum walking speed of 10 m via the speaker 105. Then, according to the operation instruction of the control device 80, the user (subject) circulates the walking speed measurement course 47 by arm swing walking by the walking training robot 3 and stops by the instructed number of times.

As a result, the rotation speeds of the pair of left and right drive wheels 32L and 32R detected by the control device 40 of the walking training robot 102, the mileage of the walking training robot 3, the traveling time traveled through this mileage, and the left and right grip handles. Time-series data of the amount of movement in the front-rear direction from the shaft reference position Mz of 20L and 20R is transmitted to the server 9. The control device 93 of the server 9 calculates the user (subject)'s 10 m comfortable walking speed, 10 m maximum walking speed, and arm swing walking level based on these received time-series data, and the user (subject) user ID. Is displayed on the display 94 in association with.

Therefore, it is no longer necessary for a person at a facility such as a physiotherapist to accompany the user (subject) during the measurement of the 10 m comfortable walking speed and the 10 m maximum walking speed, and the labor saving required when measuring the walking ability. Can be achieved. Further, when measuring the 10 m comfortable walking speed and the 10 m maximum walking speed of the user (subject), after a person in a facility such as a physiotherapist presses the start button 90A of the display device 103, the user (subject) Since it is sufficient to start the operation of the walking training robot 102 and start walking, the measurement of walking ability can be started quickly.

Further, even when only a straight walking path having a walking distance shorter than 16 m can be set on the floor surface 46A of the walking speed measuring room 46, the user (subject) orbits the walking speed measuring course 47 using the walking training robot 102. Thereby, the walking ability of the user (subject) can be evaluated by calculating the 10 m comfortable walking speed and the 10 m maximum walking speed. As a result, it is possible to save space in the size of the walking speed measuring room 46 required for measuring the walking ability of the user (subject).

When the difference between the previous and current arm swing cycles of the user (subject) at the time of measuring the comfortable walking speed of 10 m is equal to or less than the variation threshold value, the control device 93 of the server 9 raises the arm swing direction level by one step. Set to. This increases the difficulty of the arm swing walking motion when the user (subject) measures the 10 m comfortable walking speed and the 10 m maximum walking speed. As a result, the user (subject) changes the movement of the arm swing walking when measuring the 10m comfortable walking speed and the 10m maximum walking speed, and walks with an unfamiliar arm swing walking movement. You will need to do so and you will be able to maintain the effectiveness of your dual task training.

The present invention is not limited to the first embodiment and the second 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. be. In the following description, the same reference numerals as the configurations of the walking training robots 3, 102, the smartphone 5, and the server 9 according to the first embodiment and the second embodiment of FIGS. 1 to 34 are the same as those of the first embodiment. It shows the same or equivalent part as the configuration of each walking training robot 3, 102, the smartphone 5, and the server 9 according to the embodiment and the second embodiment.

[Other First Embodiment]
(A) For example, the control device 93 of the server 9 constituting the walking ability evaluation system 1 according to the first embodiment is executed in step S416 of "10 m walking speed evaluation process" (see FIG. 24), "arm swing walking". Instead of the sub-process of "level evaluation process", the sub-process of "second arm swing walking level evaluation process" shown in FIG. 35 may be executed. Here, the sub-processing of the "second arm swing walking level evaluation process" will be described with reference to FIG. 35.

As shown in FIG. 35, first, in step S711, the control device 93 is stored in association with the user ID of the user (subject) from the user-specific 10 m comfortable walking speed storage unit 96A of the storage device 96. The "10m comfortable walking speed" and the current "10m comfortable walking speed" are read out, and the process proceeds to step S712.

In step S712, in the control device 93, the improvement rate of the current "10m comfortable walking speed" with respect to the previous "10m comfortable walking speed" is equal to or less than the improvement rate threshold value (for example, 0.5% to 1.0%) (second). Criteria) is determined. The improvement rate threshold value (for example, 0.5% to 1.0%) is stored in advance in the EEPROM of the control device 93. Then, when it is determined that the improvement rate of the current "10m comfortable walking speed" with respect to the previous "10m comfortable walking speed" is larger than the improvement rate threshold value (S712: NO), the control device 93 performs the sub-processing. Is completed, the process returns to the “10 m walking speed evaluation process”, and the process of step S417 proceeds.

On the other hand, when it is determined that the improvement rate of the current "10m comfortable walking speed" with respect to the previous "10m comfortable walking speed" is equal to or less than the improvement rate threshold value (S712: YES), the control device 93 is set in step S713. Proceed to processing. In step S713, after executing the process of step S526 (see FIG. 26) described above, the control device 93 ends the sub-process, returns to the "10 m walking speed evaluation process", and proceeds with the process of step S417.

When the control device 93 first stores the "arm swing walking level" in the user-specific arm swing walking level storage unit 96C in association with the user ID of the user (subject), the control device 93 sets the "arm swing walking level" to the "arm swing walking level". “Level 1” (see FIG. 10) is set and stored in the user-specific arm swing walking level storage unit 96C.

Therefore, in the control device 93 of the server 9, when the improvement rate of the current "10m comfortable walking speed" with respect to the previous "10m comfortable walking speed" is equal to or less than the improvement rate threshold, the user (subject) walks by swinging his arm. Judging that he is proficient in movement, he sets the arm swing direction level one step higher. As a result, the difficulty level of the arm swing walking motion at the time of measuring the 10 m comfortable walking speed and the 10 m maximum walking speed of the user (subject) increases. As a result, the user (subject) changes the movement of the arm swing walking when measuring the 10m comfortable walking speed and the 10m maximum walking speed, and walks with an unfamiliar arm swing walking movement. You will need to do so and you will be able to maintain the effectiveness of your dual task training.

Here, the control device 93 and the storage device 96 constitute an example of the second proficiency level evaluation unit. The control device 93 functions as an example of the second proficiency level determination unit. The control device 80 and the speaker 82 form an example of an operation teaching unit.

[Other Second Embodiment]
(B) Further, for example, the control device 93 of the server 9 constituting the walking ability evaluation system 1 according to the first embodiment is executed in step S416 of the “10 m walking speed evaluation process” (see FIG. 24). Instead of the sub-processing of the swing walking level evaluation process, the sub-process of the "third arm swing walking level evaluation process" shown in FIG. 36 may be executed. Here, the sub-processing of the "third arm swing walking level evaluation process" will be described with reference to FIG. 36.

As shown in FIG. 36, first, in step S721, the control device 93 sequentially reads out a plurality of "running data of the constant speed portion" stored in the RAM in the RAM in the time series. Then, the control device 93 sequentially extracts the rotation speeds and the traveling times of the left and right drive wheels 32L and 32R from the plurality of "traveling data of the constant speed portion" arranged in time series, and each rotation thereof. After dividing the number by the traveling time to calculate the "rotational speeds of the left and right drive wheels 32L and 32R" and storing them in the RAM as "constant speed partial rotation speed data" in time series, the process proceeds to step S722.

In step S722, the control device 93 reads out a plurality of "constant speed partial rotation speed data" arranged in chronological order from the RAM in order, calculates the variation of the "rotational speeds of the left and right drive wheels 32L and 32R", and calculates the variation. After storing in the RAM, the process proceeds to step S723. Therefore, when the walking training robot 3 travels on the straight walking paths 47A and 47B of the walking speed measurement course 47 (see FIG. 7), the control device 93 provides a “constant speed portion” in which the walking speed of the user (subject) is stable. The variation of "rotational speeds of left and right drive wheels 32L and 32R" is calculated and stored in the RAM.

In step S723, the control device 93 reads out the variation of the "rotational speeds of the left and right drive wheels 32L and 32R" calculated in step S722 from the RAM, and determines the variation of the "rotational speeds of the left and right drive wheels 32L and 32R" this time. After associating with the user ID of the user (subject) and storing the date and time information in the user-specific arm swing walking level storage unit 96C of the storage device 96, the process proceeds to step S724.

In step S724, the control device 93 receives the previous "rotation of the left and right drive wheels 32L, 32R" stored in association with the user ID of the user (subject) from the user-specific arm swing walking level storage unit 96C of the storage device 96. The variation of "speed" and the variation of this "rotational speed of left and right drive wheels 32L, 32R" are read out, and the process proceeds to step S725.

In step S725, the control device 93 has a variation in the previous "rotational speeds of the left and right drive wheels 32L and 32R" read in step S724, and a variation in the "rotational speeds of the left and right drive wheels 32L and 32R" this time. It is determined whether or not both are equal to or less than the second variation threshold (third criterion). The second variation threshold value is stored in advance in the EEPROM of the control device 93. Then, at least one of the variation of the previous "rotational speeds of the left and right drive wheels 32L and 32R" and the variation of the "rotational speeds of the left and right drive wheels 32L and 32R" this time is larger than the second variation threshold. If it is determined (S725: NO), the control device 93 ends the sub-processing, returns to the "10m walking speed evaluation process", and proceeds with the process of step S417.

On the other hand, when it is determined that the variation of the previous "rotational speeds of the left and right drive wheels 32L and 32R" and the variation of the current "rotational speeds of the left and right drive wheels 32L and 32R" are both equal to or less than the second variation threshold value. (S725: YES), the control device 93 proceeds to the process of step S726. In step S726, after executing the process of step S526 (see FIG. 26) described above, the control device 93 ends the sub-process, returns to the "10 m walking speed evaluation process", and proceeds with the process of step S417.

When the control device 93 first stores the "arm swing walking level" in the user-specific arm swing walking level storage unit 96C in association with the user ID of the user (subject), the control device 93 sets the "arm swing walking level" to the "arm swing walking level". “Level 1” (see FIG. 10) is set and stored in the user-specific arm swing walking level storage unit 96C.

Therefore, in the control device 93 of the server 9, the variation of the previous "rotational speeds of the left and right drive wheels 32L and 32R" and the variation of the current "rotational speeds of the left and right drive wheels 32L and 32R" are both the second variation thresholds. When the following occurs, it is determined that the user (subject) is proficient in the arm swing walking motion, and the arm swing direction level is set one step higher. As a result, the difficulty level of the arm swing walking motion at the time of measuring the 10 m comfortable walking speed and the 10 m maximum walking speed of the user (subject) increases. As a result, the user (subject) changes the movement of the arm swing walking when measuring the 10m comfortable walking speed and the 10m maximum walking speed, and walks with an unfamiliar arm swing walking movement. You will need to do so and you will be able to maintain the effectiveness of your dual task training.

Here, the control device 93 and the storage device 96 constitute an example of the third proficiency level evaluation unit. The control device 93 functions as an example of the third proficiency level determination unit. The control device 80 and the speaker 82 form an example of an operation teaching unit.

[Other Third Embodiment]
(C) Further, for example, the control device 80 of the smartphone 5 constituting the walking ability evaluation system 1 according to the first embodiment is the process of step S234 of the sub-process (see FIG. 21) of the above-mentioned "start / stop process". In the walking training robot 3, an "arm swing start instruction command" for instructing the walking training robot 3 to start running in the "arm swing training mode" in which the walking training robot 3 follows is transmitted to the walking training robot 3. Then, the control device 80 reads out the “arm swing walking level” indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user from the EEPROM.

Then, the control device 80 teaches (voice-guides) the user corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in the EEPROM. After reading the "level content" and teaching (voice guidance) via the speaker 82, the process may proceed to step S235. As a result, when the user performs arm swing walking training using the walking training robot 3, it is possible to teach the walking motion according to the user's proficiency in the arm swing walking motion, and the effect of the dual task training can be improved. Can be done.

[Other Fourth Embodiment]
(D) Further, for example, the control device 40 of the walking training robot 102 constituting the walking ability evaluation system 101 according to the second embodiment is a sub-processing (see FIG. 31) of the above-mentioned "second start / stop processing". In the process of step S603, the training start flag is read from the RAM, the training start flag is set to ON, and the training start flag is stored in the RAM again. Then, the control device 40 reads out the “arm swing walking level” indicating the difficulty level of the arm swing walking motion stored corresponding to the user ID of the user from the EEPROM.

Then, the control device 40 teaches (voice-guides) the user corresponding to this "arm swing walking level" from the arm swing walking level table 49 (see FIG. 10) stored in advance in the EEPROM. After reading the "level content" and teaching (voice guidance) via the speaker 105, the process may proceed to step S604. As a result, when the user performs arm swing walking training using the walking training robot 102, the walking motion can be taught according to the user's proficiency in the arm swing walking motion, and the effect of dual task training can be improved. Can be done.

1,101 Walking ability evaluation system 3,102 Walking training robot 5 Smartphone 7 Network 9 Server 35, 37, 87, 97 Communication device 18 Mounting member 40, 80, 93 Control device 81, 104 Display 82, 105 Speaker 85, 107 Operation Unit 96 Storage device 103 Display device

Claims (10)

A walking training robot that moves according to the user's operation and supports the walking training of the user,
A measurement instruction receiving unit that receives a measurement instruction of the user's walking ability,
When the measurement instruction is received via the measurement instruction receiving unit, the traveling data acquisition unit that acquires the traveling data of the walking training robot that moves according to the operation of the user, and the traveling data acquisition unit.
A walking ability evaluation unit that evaluates the walking ability of the user based on the driving data acquired through the driving data acquisition unit, and a walking ability evaluation unit.
With,
Walking ability evaluation system. In the walking ability evaluation system according to claim 1,
The walking ability includes a predetermined walking speed for walking on a straight walking path of a predetermined distance.
The walking training robot
With the frame
A plurality of wheels including a pair of left and right drive wheels provided on the frame, and
A rotation speed detection device that detects the rotation speed of each of the pair of left and right drive wheels at predetermined time intervals, and
A pair of driving devices for traveling that drive the pair of left and right drive wheels,
A travel control device that controls a pair of travel drive devices so as to move according to the user's operation, and a travel control device.
Have,
The traveling data includes time-series data of the respective rotation speeds of the pair of left and right driving wheels detected via the rotation speed detection device.
The walking ability evaluation unit
A data extraction unit that extracts straight-ahead state time-series data of the respective rotation speeds of the pair of left and right drive wheels in the straight-ahead state of the walking training robot based on the time-series data of the respective rotation speeds of the pair of left and right drive wheels. When,
A walking speed calculation unit that calculates the predetermined distance walking speed based on the straight-ahead state time-series data of the rotation speed extracted through the data extraction unit.
Have,
Walking ability evaluation system. In the walking ability evaluation system according to claim 2,
The walking speed calculation unit
Based on the straight-ahead state time-series data of the number of rotations extracted through the data extraction unit, the mileage and the running time traveled when the change in the running speed of the walking training robot was equal to or less than the predetermined speed change threshold were accumulated. It has a cumulative calculation unit that calculates the cumulative mileage and cumulative travel time.
The cumulative mileage is divided by the cumulative mileage to calculate the predetermined walking speed.
Walking ability evaluation system. In the walking ability evaluation system according to claim 2 or 3.
The data extraction unit
It has a rotation speed difference determination unit for determining whether or not the difference in rotation speed between the pair of left and right drive wheels detected via the rotation speed detection device is equal to or less than a predetermined rotation speed difference threshold value.
When it is determined through the rotation speed difference determination unit that the difference in rotation speed between the pair of left and right drive wheels is equal to or less than the predetermined rotation speed difference threshold, the walking training robot is assumed to be in a straight-ahead state, and the rotation is performed. Extracting straight-ahead time-series data of numbers,
Walking ability evaluation system. In the walking ability evaluation system according to any one of claims 2 to 4.
When the measurement instruction is received via the measurement instruction receiving unit, a teaching unit for teaching the walking speed-related information related to the walking speed to the user before starting the measurement of the walking ability is provided.
The driving data acquisition unit is
After the walking speed-related information is taught to the user through the teaching unit, the running data of the walking training robot is acquired.
Walking ability evaluation system. In the walking ability evaluation system according to claim 5,
The walking speed-related information taught to the user via the teaching unit includes first teaching information that encourages the user to walk normally, or second teaching information that encourages the user to walk as fast as possible. include,
Walking ability evaluation system. In the walking ability evaluation system according to any one of claims 2 to 6.
The walking training robot
A pair of left and right grip handles that can move approximately in the front-back direction with respect to the frame,
A pair of movement amount detection devices that detect the movement amount of each of the pair of grip handles in the front-rear direction at predetermined time intervals, and a pair of movement amount detection devices.
Have,
Based on the time-series data of the movement amount detected through the pair of the movement amount detection devices, the travel control device is a pair so as to travel according to the arm swing walking holding the pair of the grip handles of the user. Controlling the traveling drive device,
Walking ability evaluation system. In the walking ability evaluation system according to claim 7,
An arm swing information acquisition unit that acquires arm swing information related to the user's arm swing based on the time series data of the movement amount detected via the pair of movement amount detection devices.
A first proficiency level evaluation unit that evaluates the user's proficiency level in arm swing walking based on the arm swing information acquired through the arm swing information acquisition unit.
A first proficiency level determination unit for determining whether or not the proficiency level evaluated through the first proficiency level evaluation unit has reached a predetermined first criterion, and a first proficiency level determination unit.
When it is determined through the first proficiency level determination unit that the proficiency level has reached a predetermined first criterion, the user is subjected to the arm swing walking motion before the measurement of the walking ability is started. An operation teaching unit that teaches operation change information that encourages people to change and walk,
With,
Walking ability evaluation system. In the walking ability evaluation system according to claim 7,
A second proficiency evaluation unit that evaluates the user's proficiency in arm-swinging walking based on the predetermined distance walking speed calculated via the walking speed calculation unit.
A second proficiency level determination unit that determines whether or not the proficiency level evaluated through the second proficiency level evaluation unit has reached a predetermined second criterion, and a second proficiency level determination unit.
When it is determined through the second proficiency level determination unit that the proficiency level has reached a predetermined second criterion, the user is subjected to the arm swing walking motion before the measurement of the walking ability is started. An operation teaching unit that teaches operation change information that encourages people to change and walk,
With,
Walking ability evaluation system. In the walking ability evaluation system according to claim 7,
A rotation information acquisition unit that acquires rotation information regarding the rotation speed of the drive wheels based on the straight-ahead state time-series data of the rotation speed extracted via the data extraction unit.
A third proficiency evaluation unit that evaluates the user's proficiency in arm-swinging walking based on the rotation information acquired via the rotation information acquisition unit.
A third proficiency level determination unit that determines whether or not the proficiency level evaluated through the third proficiency level evaluation unit has reached a predetermined third criterion, and a third proficiency level determination unit.
When it is determined through the third proficiency level determination unit that the proficiency level has reached a predetermined third criterion, the user is subjected to the arm swing walking motion before the measurement of the walking ability is started. An operation teaching unit that teaches operation change information that encourages people to change and walk,
With,
Walking ability evaluation system.

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