JP2022042540A - Walking support device - Google Patents

Abstract

To simplify a configuration of a device that can provide walking training while supporting walking of a user.SOLUTION: A walking support device includes: a body part having wheels; a right and left pair of arm parts fixed to the body part, which are provided along a front-back direction; a right and left pair of gripping parts gripped by a user; and a right and left pair of rail parts provided to the right and left pair of arm parts respectively, on which the right and left pair of gripping parts can move along the front-back direction respectively. A first elastic member that expands and contracts along the front-back direction is disposed in the rail parts between the front end parts of the rail parts and the gripping parts. The first elastic member transmits forward force input in the gripping parts to the arm parts. The total length of the natural length of the first elastic member and the part in the rail parts of the gripping parts is shorter than the length of the rail parts.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a walking support device.

Patent Document 1 has a pair of left and right grip portions that can move in the front-rear direction with respect to a frame provided with wheels, and a walking support device that moves forward with a user who grips the grip portions and walks while swinging his arms. Is disclosed. This walking support device is provided with a motor that drives the wheels using a battery as a power source and a sensor that detects the acting force input to the grip portion, and the user's walking support device is based on the acting force detected by the sensor. The walking state is determined, and the motor is controlled based on the determination result.

Japanese Unexamined Patent Publication No. 2020-011033

In the above-mentioned walking support device, since it is possible to encourage the user to walk while swinging his / her arm without leaning on the walking support device, it is possible to provide walking training while supporting the walking of the user. However, since a motor for driving the wheels and a sensor for detecting the force input from the grip portion are provided, the production cost is high. Therefore, there is a demand for a walking support device capable of providing walking training while supporting the walking of the user with a simpler configuration.

The present disclosure can be realized in the following forms.

(1) According to one embodiment of the present disclosure, a walking support device for supporting the walking of a user is provided. This walking support device includes a main body portion having wheels, a pair of left and right arm portions fixed to the main body portion and provided along the front-rear direction, a pair of left and right grip portions gripped by the user, and a pair of left and right grip portions. Each of the left and right arm portions is provided with a pair of left and right rail portions in which each of the pair of left and right grip portions can move along the front-rear direction. In the rail portion, a first elastic member that expands and contracts along the front-rear direction is arranged between the front end portion of the rail portion and the grip portion, and the first elastic member is input to the grip portion. The forward force is transmitted to the arm portion, and the total amount of the natural length of the first elastic member and the length of the portion of the grip portion in the rail portion in the front-rear direction is the front-back of the rail portion. Shorter than the length in the direction.
According to this form of the walking support device, since the motor for rotating the wheels and the sensor for detecting the position of the grip portion are not provided, the walking is supported by the user with a simple configuration. Can provide training. Further, since the forward force input to the grip portion is transmitted to the arm portion via the first elastic member, the impact when the forward force is transmitted from the grip portion to the arm portion can be alleviated. Further, since the total amount of the natural length of the first elastic member and the length in the front-rear direction of the portion of the grip portion in the rail portion is shorter than the length in the front-rear direction of the rail portion, the hand holding the grip portion is moved back and forth. The walking support device can be moved in synchronization with the movement of the user who walks while moving.
(2) In the walking support device of the above embodiment, one end of the first elastic member in the front-rear direction may be connected to the front end portion of the rail portion.
According to this form of the walking support device, since the first elastic member can be suppressed from freely moving in the rail portion, it is possible to suppress the generation of abnormal noise due to the contact of the first elastic member with the rail portion.
(3) In the walking support device of the above embodiment, a second elastic member that expands and contracts along the front-rear direction is arranged between the rear end portion of the rail portion and the grip portion in the rail portion. The second elastic member transmits a backward force input to the grip portion to the arm portion, and the natural length of the first elastic member and the length of the portion of the grip portion in the rail portion in the front-rear direction. The total amount of the rail portion and the natural length of the second elastic member may be shorter than the length of the rail portion in the front-rear direction.
According to this form of the walking support device, the impact when the backward force is transmitted from the grip portion to the rear end portion of the rail portion can be alleviated.
(4) The walking support device of the above embodiment may include a motor for rotating the wheels and a control unit for controlling the motors so that the rotation speed of the wheels becomes constant under predetermined conditions. good.
According to this form of the walking support device, the control unit can control the motor so that the rotation speed of the wheels becomes constant under predetermined conditions, so that the burden on the user for moving the walking support device is reduced. can.
The present disclosure can also be realized in various forms other than the walking support device. For example, it can be realized in the form of a training device or the like.

The side view which shows the schematic structure of the walking support device of 1st Embodiment. The front view which shows the schematic structure of the walking support device of 1st Embodiment. FIG. 1 is a sectional view taken along line III-III. Explanatory drawing which shows a mode that a forward force is transmitted through a 1st elastic member. Explanatory drawing which shows how the rearward force is transmitted through the 2nd elastic member. Explanatory drawing which shows the state that a user walks using the walking support device of 1st Embodiment. The side view which shows the schematic structure of the walking support device of 2nd Embodiment. The flowchart which shows the content of the process of the dynamic friction compensation control. Explanatory drawing which shows the state that a user walks using the walking support device of 2nd Embodiment.

A. First Embodiment:
FIG. 1 is a side view showing a schematic configuration of the walking support device 11 according to the first embodiment. FIG. 2 is a front view showing a schematic configuration of the walking support device 11 according to the first embodiment. 1 and 2 show arrows representing the X, Y, and Z axes, which are three axes orthogonal to each other. The X-axis is a coordinate axis along the front-back direction of the walking support device 11, and the direction indicated by the arrow representing the X-axis is the rear. The Y-axis is a coordinate axis along the left-right direction of the walking support device 11, and the direction indicated by the arrow representing Y is to the right. The Z-axis is a coordinate axis along the vertical direction of the walking support device 11, and the direction indicated by the arrow representing the Z-axis is upward. The arrows representing the X, Y, and Z axes are appropriately shown in other figures so that the directions indicated by the arrows correspond to those in FIGS. 1 and 2.

The walking support device 11 includes a main body portion 20, a pair of arm portions 50 provided symmetrically, a pair of rail portions 60 provided symmetrically, and a pair of grip portions 70 provided symmetrically. I have. In the following description, the arm portion 50 provided on the left side may be referred to as a left arm portion 50L, and the arm portion 50 provided on the right side may be referred to as a right arm portion 50R. When the left and right arm portions 50 are described without particular distinction, they are simply referred to as arm portions 50. The rail portion 60 provided on the left side may be referred to as a left rail portion 60L, and the rail portion 60 provided on the right side may be referred to as a right rail portion 60R. When the left and right rail portions 60 are described without particular distinction, they are simply referred to as rail portions 60. The grip portion 70 provided on the left side may be referred to as a left grip portion 70L, and the grip portion 70 provided on the right side may be referred to as a right grip portion 70R. When the left and right grip portions 70 are described without particular distinction, they are simply referred to as grip portions 70.

The main body 20 has a frame 30 and wheels 40. In the present embodiment, as shown in FIG. 2, the frame 30 includes a central frame 31 provided along the left-right direction, a left frame 32 fixed to the left end portion of the central frame 31, and a right end portion of the central frame 31. It is composed of a right frame 33 fixed to. As shown in FIG. 1, the left frame 32 has a lower portion provided along the front-rear direction and an upper portion protruding upward from between the front end portion and the rear end portion of the lower portion. is doing. The right frame 33 is provided symmetrically with the left frame 32.

The main body 20 has a pair of front wheels 41 provided symmetrically and a pair of rear wheels 42 provided symmetrically as wheels 40. The left front wheel 41 is connected to the front end of the lower portion of the left frame 32, and the right front wheel 41 is connected to the front end of the lower portion of the right frame 33. The left rear wheel 42 is connected to the rear end of the lower portion of the left frame 32, and the right rear wheel 42 is connected to the rear end of the lower portion of the right frame 33. Each front wheel 41 is configured so that the direction of the toe can be changed from front to back and from side to side. Each rear wheel 42 is configured so that the orientation of the toe is fixed forward. In addition, each rear wheel 42 may be configured so that the direction of the toe can be changed to the front, back, left and right. The number of wheels 40 is not limited to four, and may be, for example, three or five or more.

The arm portion 50 is provided along the front-rear direction. In the present embodiment, the arm portion 50 has a connecting portion 55 protruding downward from between the front end portion and the rear end portion of the arm portion 50. The connection portion 55 of the left arm portion 50 is fixed to the upper end portion of the left frame 32 by the screw 39, and the connection portion 55 of the right arm portion 50 is fixed to the upper end portion of the right frame 33 by the screw 39. Has been done. A plurality of screw holes are provided in the connecting portion 55 side by side in the vertical direction. The position of the arm portion 50 in the vertical direction can be adjusted by changing the screw hole into which the screw 39 is inserted.

The rail portion 60 is provided on the arm portion 50 along the front-rear direction. In the present embodiment, the rail portion 60 is configured as a guide groove having an opening on the upper surface of the arm portion 50. The rail portion 60 is continuously provided from the vicinity of the front end portion of the arm portion 50 to the vicinity of the rear end portion of the arm portion 50.

The grip portion 70 is provided so as to be movable in the front-rear direction along the rail portion 60. The grip portion 70 has a stick portion 71 and a slide portion 72. In the present embodiment, the stick portion 71 has a substantially cylindrical shape and is arranged above the rail portion 60. The lower end of the stick portion 71 is connected to the slide portion 72. The slide portion 72 has a substantially rectangular parallelepiped shape, and is arranged in the rail portion 60 so as to be movable along the front-rear direction. The stick portion 71 provided on the left grip portion 70 is gripped by the user's left hand, and the stick portion 71 provided on the right grip portion 70 is gripped by the user's right hand.

FIG. 3 is a sectional view taken along line III-III in FIG. FIG. 3 shows a cross section of the rail portion 60 and the grip portion 70 on the left side. In the left-right direction, the width of the slide portion 72 is wider than the width of the opening of the rail portion 60 provided on the upper surface of the arm portion 50. Therefore, the slide portion 72 is housed in the rail portion 60 so as not to come off from the rail portion 60. The stick portion 71 protrudes from the opening of the rail portion 60 onto the arm portion 50. In the present embodiment, the stick portion 71 is connected to the slide portion 72 so as to be tiltable back and forth about the rotation axis RX so that the user can easily grip the stick portion 71.

As shown in FIG. 1, in the rail portion 60, a first elastic member 81 that expands and contracts in the front-rear direction is arranged between the front end portion of the rail portion 60 and the slide portion 72 of the grip portion 70. In the present embodiment, the first elastic member 81 is a compression coil spring having a predetermined spring constant. The front end portion of the first elastic member 81 is connected to the front end portion of the rail portion 60, and the rear end portion of the first elastic member 81 is a free end without being connected to other members. The first elastic member 81 may be an elastomer having rubber elasticity instead of the compression coil spring.

In the rail portion 60, a second elastic member 82 that expands and contracts in the front-rear direction is arranged between the rear end portion of the rail portion 60 and the slide portion 72 of the grip portion 70. The second elastic member 82 is a compression coil spring having a predetermined spring constant. The spring constant of the second elastic member 82 may be the same as the spring constant of the first elastic member 81, or may be different from the spring constant of the first elastic member 81. The rear end portion of the second elastic member 82 is connected to the rear end portion of the rail portion 60, and the front end portion of the second elastic member 82 is a free end without being connected to other members. The second elastic member 82 may be an elastomer having rubber elasticity instead of the compression coil spring.

In the present embodiment, the total length of the natural length L1 of the first elastic member 81, the natural length L2 of the second elastic member 82, and the length L3 of the slide portion 72 in the front-rear direction is the length of the rail portion 60. Shorter than L4. That is, in the rail portion 60, the slide portion 72 is brought into contact with the first elastic member 81 and the second elastic member 82 between the rear end portion of the first elastic member 81 and the front end portion of the second elastic member 82. There is a space that can be moved without.

FIG. 4 is an explanatory diagram showing how a forward force is transmitted through the first elastic member 81. When the stick portion 71 of the grip portion 70 is pushed forward from the state shown in FIG. 1, the slide portion 72 moves forward together with the stick portion 71, and the front end portion of the slide portion 72 is the first elastic member 81. Contact the rear end. When the stick portion 71 is pushed further forward, the slide portion 72 moves further forward, and as shown in FIG. 4, the first elastic member 81 has the front end portion of the rail portion 60 and the front end of the slide portion 72. It is crushed between the part and shrinks. At this time, the restoring force F1 of the first elastic member 81 pushes the slide portion 72 backward and pushes the front end portion of the rail portion 60 forward. Therefore, the forward force input to the stick portion 71 is applied to the rail portion 60. It is transmitted from the front end portion of the arm portion 50 to the arm portion 50. The walking support device 11 moves forward by transmitting a forward force to the arm portion 50 fixed to the main body portion 20.

FIG. 5 is an explanatory view showing how a backward force is transmitted through the second elastic member 82. When the stick portion 71 of the grip portion 70 is pulled backward from the state shown in FIG. 1, the slide portion 72 moves rearward together with the stick portion 71, and the rear end portion of the slide portion 72 is a second elastic member. Contact the front end of 82. When the stick portion 71 is further pulled backward, the slide portion 72 moves further rearward, and as shown in FIG. 5, the second elastic member 82 is the rear end portion of the slide portion 72 and the rail portion 60. It is crushed and shrunk between it and the rear end. At this time, the restoring force F2 of the second elastic member 82 pushes the slide portion 72 forward and the rear end portion of the rail portion 60 backward, so that the backward force input to the stick portion 71 is applied to the rail portion. It is transmitted from the rear end portion of 60 to the arm portion 50. The walking support device 11 decelerates or retreats by transmitting a backward force to the arm portion 50 fixed to the main body portion 20.

FIG. 6 is an explanatory diagram showing how the user P walks using the walking support device 11 of the present embodiment. The user P stands between the left and right rear wheels 42, grips the stick portion 71 of the left grip portion 70L with his left hand, and grips the stick portion 71 of the right grip portion 70R with his right hand, and holds the walking support device 11 with his right hand. Manipulate. For example, as shown in FIG. 6, when the user P pushes his right hand forward, the forward force Ff input from the stick 71 portion of the right grip portion 70R is arranged in the right rail portion 60R. It is transmitted to the right arm portion 50R via the member 81, and the walking support device 11 moves forward. When the user P walking with the walking support device 11 moving forward pulls his right hand and pushes out his left hand, the forward force Ff input from the stick 71 portion of the left grip portion 70L is arranged in the left rail portion 60L. 1 The walking support device 11 continues to move forward by being transmitted to the left arm portion 50L via the elastic member 81. When the walking support device 11 is too far from the user P, a backward force Fr is transmitted to the arm portion 50 via the second elastic member 82, and the walking support device 11 approaches the user P. On the other hand, when the walking support device 11 gets too close to the user P, a forward force Ff is transmitted to the arm portion 50 via the first elastic member 81, and the walking support device 11 separates from the user P. That is, the walking support device 11 moves in synchronization with the walking speed of the user P. Therefore, the user P can walk with a natural stride while pushing out the right hand and the left hand alternately. By moving the stick portion 71 of the left grip portion 70L to the front of the straight direction, the walking support device 11 can be turned to the right, and the stick portion 71 of the right grip portion 70R can be moved to the front of the straight direction. By moving the walking support device 11, the walking support device 11 can be turned to the left. By moving the stick portion 71 backward, the movement of the walking support device 11 can be stopped.

According to the walking support device 11 of the present embodiment described above, the user P can be encouraged to perform an operation such as a Nordic walk that enhances the exercise effect while assisting walking by using two poles. It is possible to provide the user P with effective aerobic exercise by increasing the heart rate and oxygen uptake of the user P as compared with the normal walking without using the walking support device 11 or the pole. In addition, since the Nordic walk-like movement can be promoted to the user P, the brain of the user P can be activated and the onset of dementia can be suppressed. Further, it is possible to prevent the user P from walking in a forward leaning posture leaning against the walking support device 11. Since the walking support device 11 of the present embodiment is not provided with a motor for rotating the wheels 40, a sensor for detecting the positions of the grips 70L and 70R, and the like, the user has a simple configuration. It is possible to provide walking training such as Nordic walk while supporting P's walking.

Further, in the present embodiment, the force input from the stick portion 71 of the grip portion 70 is transmitted to the arm portion 50 via the first elastic member 81 and the second elastic member 82 arranged in the rail portion 60. Compared with the form in which the slide portion 72 comes into contact with the front end portion and the rear end portion of the rail portion 60 and the force is transmitted to the arm portion 50, the impact when the force is transmitted can be suppressed. In particular, in the present embodiment, in the rail portion 60, a slide portion 72 is provided between the rear end portion of the first elastic member 81 and the front end portion of the second elastic member 82 to form the first elastic member 81 and the second elastic member 82. Since a space that can be moved without contacting the member 82 is provided, it is possible to prevent the slide portion 72 from coming into contact with the second elastic member 82 when the walking support device 11 moves forward, and slides when the walking support device 11 moves forward. Even if the portion 72 comes into contact with the second elastic member 82, the amount of shrinkage of the second elastic member 82 can be reduced. Therefore, it is possible to suppress the walking support device 11 from repeating acceleration / deceleration, and to move the walking support device 11 in synchronization with the walking speed of the user P.

Further, in the present embodiment, the front end portion of the first elastic member 81 is connected to the front end portion of the rail portion 60, and the rear end portion of the second elastic member 82 is connected to the rear end portion of the rail portion 60. Therefore, it is possible to prevent the first elastic member 81 and the second elastic member 82 from freely moving around in the rail portion 60. Therefore, it is possible to suppress the generation of abnormal noise due to the contact of the first elastic member 81 and the second elastic member 82 with the inner wall surface of the rail portion 60.

B. Second embodiment:
FIG. 7 is a side view schematically showing a schematic configuration of the walking support device 12 in the second embodiment. The walking support device 12 of the second embodiment is different from the first embodiment in that it includes a motor 110, a battery 120, and a control unit 130. Other configurations are the same as those of the walking support device 11 of the first embodiment shown in FIG. 1, unless otherwise specified.

The motor 110 is provided at the rear end portion of the left frame 32 and the rear end portion of the right frame 33. The motor 110 provided at the rear end of the left frame 32 rotates the left rear wheel 42, and the motor 110 provided at the rear end of the right frame 33 rotates the right rear wheel 42. In the present embodiment, as the motor 110, an AC brushless motor having a built-in encoder or Hall sensor that detects the rotation angle of the output shaft is used. The rotation angle of the output shaft may be calculated using the induced voltage generated in the coil without incorporating the encoder or the Hall sensor in the motor 110. The motor 110 for rotating the left rear wheel 42 and the motor 110 for rotating the right rear wheel 42 may not be separately provided, and the left and right rear wheels 42 may be rotated by one motor 110.

The battery 120 is housed in a box-shaped storage unit 100 fixed to the left frame 32. As the battery 120, for example, a secondary battery such as a lithium ion secondary battery or a nickel hydrogen storage battery can be used. The battery 120 is electrically connected to each motor 110 via an inverter or the like. The DC power output from the battery 120 is converted into AC power by an inverter and then supplied to each motor 110.

The control unit 130 is housed in the storage unit 100. The control unit 130 includes one or a plurality of processors, a main storage device, and a computer including an input / output interface for inputting / outputting signals to / from the outside. In the present embodiment, the control unit 130 executes dynamic friction compensation described later by executing a program or instruction read on the main storage device by the processor, and walk support device 12 under predetermined conditions. The torque of each motor 110 is increased or decreased so that the moving speed of the motor 110 becomes constant. The control unit 130 may be configured by a combination of a plurality of circuits instead of a computer.

FIG. 8 is a flowchart showing the contents of the dynamic friction compensation control process. This process is started by the control unit 130, for example, when the power button provided on the walking support device 12 is turned on. First, in step S110, the control unit 130 acquires the rotation speed of each rear wheel 42. The control unit 130 acquires the rotation speed of each rear wheel 42 by using, for example, the rotation angle of the output shaft of each motor 110 detected by the encoder or Hall sensor built in each motor 110. The control unit 130 acquires the rotation speed of each rear wheel 42 in a predetermined sampling cycle. This time interval can be set to, for example, 0.1 seconds. The control unit 130 continues to acquire the rotational speed of each rear wheel 42 while this process is executed.

In step S120, the amount of change in the rotational speed of each rear wheel 42 in a predetermined time is calculated. The control unit 130 uses the rotation speed of each rear wheel 42 acquired at the first timing and the rotation speed of each rear wheel 42 acquired at the second timing after the first timing. The amount of change in the rotational speed of each rear wheel 42 from the first timing to the second timing is calculated. The first timing is set to, for example, one second before the timing at which the rotation speed of each rear wheel 42 is finally acquired, and the second timing is, for example, the rotation speed of each rear wheel 42 at the end. It is set at the acquired timing.

In step S130, the control unit 130 determines whether or not the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value. For example, when the absolute value of the amount of change in the rotation speed of each rear wheel 42 in the predetermined time exceeds the value that changes the movement speed of the walking support device 12 by 0.1 km / h in the predetermined time, the control unit 130 Determines that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value.

When it is determined in step S130 that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value, the control unit 130 controls the rear wheel 42 in step S140. The value obtained by multiplying the amount of change in the rotation speed by the coefficient k is added to the previously set torque target value of each motor 110, and the value is set as the new torque target value of each motor 110 to output the output of each motor 110. Control. That is, in the present embodiment, when it is determined in step S130 that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value, the control unit 130 walks. The torque of each motor 110 is increased or decreased according to the acceleration matching or the deceleration degree of the support device 12. For example, when the first elastic member 81 is strongly compressed and the walking support device 12 is accelerating with a relatively large acceleration, the torque of each motor 110 is increased according to the acceleration of the walking support device 12. For example, when the second elastic member 82 is strongly compressed and the walking support device 12 is decelerating to a relatively large deceleration degree, that is, when the user applies a brake to the walking support device 12, the walking is performed. The torque of each motor 110 is reduced according to the degree of deceleration of the support device 12. In the initial state, the target value of the torque of each motor 110 is set to zero.

If it is not determined in step S130 that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value, the control unit 130 controls in step S143 in the predetermined time. It is determined whether or not the amount of change in the rotational speed of each of the rear wheels 42 of the above is a positive value. If it is determined in step S143 that the amount of change in the rotational speed of each rear wheel 42 in the predetermined time is a positive value, in other words, if it is determined that the walking support device 12 is accelerating, control is performed. In step S145, the unit 130 controls the output of each motor 110 by setting a value obtained by subtracting a predetermined value δ from the previously set torque target value as a new torque target value. On the other hand, when it is not determined in step S143 that the amount of change in the rotational speed of each rear wheel 42 in the predetermined time is a positive value, in other words, it is determined that the walking support device 12 is decelerating. In this case, the control unit 130 controls the output of each motor 110 by setting a value obtained by adding a predetermined value δ to the previously set torque target value as a new torque target value in step S148. That is, in the present embodiment, when it is not determined in step S130 that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in the predetermined time exceeds a predetermined value, the control unit 130 determines. The torque of each motor 110 is increased or decreased so that the moving speed of the walking support device 12 becomes constant. The control unit 130 may change the magnitude of the predetermined value δ according to the rotation speed of each rear wheel 42, for example. The magnitude of the predetermined value δ may be kept constant.

After step S140, step S145, or step S148, the control unit 130 determines in step S150 whether or not to end the dynamic friction compensation control. The control unit 130 determines that the dynamic friction compensation control is terminated, for example, when the power button of the walking support device 12 is turned off. If it is not determined in step S150 that the dynamic friction compensation control is terminated, the control unit 130 returns the process to step S110 and repeats this process. On the other hand, when it is determined in step S150 that the dynamic friction compensation control is terminated, the control unit 130 terminates this process.

FIG. 9 is an explanatory diagram showing how the user P walks using the walking support device 12 of the present embodiment. A state in which the user P walks together with the walking support device 12 will be described with the power button of the walking support device 12 turned on, that is, with the dynamic friction compensation control being executed by the control unit 130. Since the dynamic friction compensation control is not executed by the control unit 130 when the power button of the walking support device 12 is turned off, the operation of the walking support device 12 is the operation of the walking support device 11 of the first embodiment. Is the same as.

As shown on the left side of FIG. 9, the user P accelerates the walking support device 12 by transmitting a forward force Ff to the arm portion 50 from the state where the movement of the walking support device 12 is stopped for a predetermined time. When the absolute value of the amount of change in the rotational speed of each rear wheel 42 exceeds a predetermined value, the control unit 130 causes the torque of each motor 110 according to the amount of change in the rotational speed of each rear wheel 42. Therefore, a forward propulsion force FP is generated by each motor 110, and the walking support device 12 accelerates.

As shown in the center of FIG. 9, when the walking support device 12 is moving forward at a constant moving speed, the absolute value of the amount of change in the rotational speed of each rear wheel 42 in a predetermined time is a predetermined value. Since it does not exceed, the control unit 130 suppresses the change in the rotational speed of each rear wheel 42, that is, so as to compensate for the loss of kinetic energy of the walking support device 12 due to the frictional force FF from the road surface. Adjust the torque of the motor 110.

As shown on the right side of FIG. 9, the rearward force Fr is transmitted to the arm portion 50, so that the absolute value of the amount of change in the rotational speed of each rear wheel 42 in a predetermined time exceeds a predetermined value. In this case, since the control unit 130 reduces the torque of each motor 110, the forward propulsive force FP by each motor 110 becomes small, and the walking support device 12 decelerates.

According to the walking support device 12 of the present embodiment described above, since the sensor for detecting the position of the grip portion 70 is not provided, the walking of the user P is supported with a relatively simple configuration. Can provide walking training such as Nordic walks. In the walking support device 12 of the present embodiment, the control unit 130 executes dynamic friction compensation control to reduce the loss of kinetic energy of the walking support device 12 due to friction such as rolling resistance of the wheels 40 from each motor 110. Since it can be compensated by the output, the burden on the user P who walks with the walking support device 12 can be reduced.

C. Other embodiments:
(C1) In the walking support devices 11 and 12 of each of the above-described embodiments, the force input to the grip portion 70 by the first elastic member 81 and the second elastic member 82 is applied to the front end portion and the rear end portion of the rail portion 60. Be transmitted. On the other hand, the force input to the grip portion 70 may be transmitted to the front end portion and the rear end portion of the rail portion 60 by a magnet instead of the elastic member. For example, magnets may be fixed to each of the front end portion of the rail portion 60 and the front end portion of the grip portion 70 so that a repulsive force is generated when the grip portion 70 is moved forward. In this case, since the force input to the grip portion 70 can be transmitted to the rail portion 60 in a non-contact manner, quietness can be improved.

(C2) In the walking support devices 11 and 12 of each of the above-described embodiments, the front end portion of the rail portion 60 and the front end portion of the first elastic member 81 are connected to each other. On the other hand, the front end portion of the rail portion 60 and the front end portion of the first elastic member 81 may not be connected. In this case, the front end portion of the first elastic member 81 may be a free end without being connected to other members, and the rear end portion of the first elastic member 81 and the front end portion of the grip portion 70 may be connected. Alternatively, the front end portion and the rear end portion of the first elastic member 81 may be free ends without being connected to other members.

(C3) In the walking support devices 11 and 12 of each of the above-described embodiments, a cover may be provided to cover the opening of the rail portion 60. For example, a bellows-shaped cover that expands and contracts in the front-rear direction may be provided on the upper surface of the arm portion 50 so as not to hinder the movement of the grip portion 70. In this case, it is possible to prevent the sleeves of the user's clothes from being caught in each rail portion 60.

(C4) In the walking support devices 11 and 12 of each of the above-described embodiments, the second elastic member 82 may not be arranged between the rear end portion of the rail portion 60 and the grip portion 70. In this case, the total amount of the length L1 of the first elastic member 81 and the length L3 of the slide portion 72 in the front-rear direction may be shorter than the length L4 of the rail portion 60 in the front-rear direction.

The present disclosure is not limited to the above-described embodiment, and can be realized by various configurations within a range not deviating from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each embodiment described in the column of the outline of the invention are for solving a part or all of the above-mentioned problems, or one of the above-mentioned effects. It is possible to replace or combine as appropriate to achieve the part or all. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

11, 12 ... Walking support device, 20 ... Main body, 30 ... Frame, 31 ... Center frame, 32 ... Left frame, 33 ... Right frame, 39 ... Screws, 40 ... Wheels, 50 ... Arms, 55 ... Connections, 60 ... rail part, 70 ... grip part, 71 ... stick part, 72 ... slide part, 81 ... first elastic member, 82 ... second elastic member, 100 ... storage part, 110 ... motor, 120 ... battery, 130 ... control Department

Claims (4)

It is a walking support device that supports the walking of the user.
The main body with wheels and
A pair of left and right arm portions fixed to the main body and provided along the front-rear direction,
A pair of left and right grips gripped by the user,
A pair of left and right rail portions provided on each of the pair of left and right arm portions, and each of the pair of left and right grip portions can move along the front-rear direction.
Equipped with
In the rail portion, a first elastic member that expands and contracts along the front-rear direction is arranged between the front end portion of the rail portion and the grip portion.
The first elastic member transmits a forward force input to the grip portion to the arm portion.
The total amount of the natural length of the first elastic member and the length of the portion of the grip portion in the rail portion in the front-rear direction is shorter than the length of the rail portion in the front-rear direction.
Walking support device. The walking support device according to claim 1.
A walking support device in which one end of the first elastic member in the front-rear direction is connected to the front end portion of the rail portion. The walking support device according to claim 1 or 2.
In the rail portion, a second elastic member that expands and contracts along the front-rear direction is arranged between the rear end portion of the rail portion and the grip portion.
The second elastic member transmits a backward force input to the grip portion to the arm portion.
The total amount of the natural length of the first elastic member, the length of the grip portion in the rail portion in the front-rear direction, and the natural length of the second elastic member is the length of the rail portion in the front-rear direction. A walking support device that is shorter than the rail. The walking support device according to any one of claims 1 to 3.
The motor that rotates the wheels and
A control unit that controls the motor so that the rotational speed of the wheels becomes constant under predetermined conditions.
A walking support device equipped with.

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