JP2022131203A - Rollator for rehabilitation and system for gait training - Google Patents

Abstract

To provide a rollator for rehabilitation and a system for gait training that allow a user and a staff member to appropriately acquire useful information for quantitatively determining a progress degree of gait training of the user and a recovery degree of a walking function.SOLUTION: A rollator 1 for rehabilitation includes: a pair of elbow rests 3R and 3L on which right and left elbows are placed when a user P executes a walking operation; a pair of grips 4R and 4L that can be gripped by right and left hands respectively; load sensors 11R and 11L for detecting an elbow load acting on the elbow rests 3R and 3L from the elbows of the user P; load sensors 12R and 12L for detecting a hand load acting on the grips 4R and 4L from the hands of the user P; and an information processing device 6 (60 and 65) for outputting notification information on detection values of the elbow load and the hand load.SELECTED DRAWING: Figure 1

Description

There is an application for the application of Article 30, Paragraph 2 of the Patent Law ▲1 ▼ Publication name: 2nd year of Reiwa Tohoku Area Young Researcher Research Presentation, “Sound, Light, Radio Waves, Energy, Systems and Their Applications”, Lecture material / vol. Page 77-78 Publisher name: Secretariat of the Research Presentation Meeting for Young Researchers in the Tohoku Area Publication date: February 29, 2020 ▲2 ▼Meeting name: Professor Emeritus Tsuguhito Maruyama's Final Lecture Venue: Tohoku Industry University Yagiyama Campus, Building 1, Room 131 Date: February 15, 2021 ▲3▼ Publication name: 2020 Tohoku Area Young Researcher Research Presentation, “Sound, Light, Radio Waves, Energy, Systems and Its application”, Lecture materials / Pages 179-180 Publisher name: Secretariat of the Research Presentation Meeting for Young Researchers in the Tohoku Area Publication date: February 29, 2020

TECHNICAL FIELD The present invention relates to a rehabilitation rollator and a walking training system using the same.

Conventionally, as a walker for assisting the walking of a user who has difficulty in walking independently, a walker as seen in Patent Documents 1 and 2, for example, has been proposed. These walkers are provided with a frame that can move on the floor surface via wheels, and a pair of elbow rests on which a standing user can rest his left and right elbows on the upper part of the frame. . By placing the left and right elbows on the elbow rests, the user can support the upper body of the user and walk in this state. In addition, the walker disclosed in Patent Document 1 is further provided with a pair of grips in front of the elbow rests, which the user can hold with his or her left and right hands, as a brake operation unit for stopping the walker. there is

Japanese Patent Application Laid-Open No. 2002-126023 JP 2014-226412 A

Walkers such as those disclosed in Patent Documents 1 and 2 are often used in hospitals, nursing homes, and the like for rehabilitation purposes such as walking training for users who have difficulty walking independently due to malfunction or deterioration of leg motor functions. In this case, it is necessary for staff involved in walking training, such as doctors, nurses, caregivers, and therapists, to appropriately determine the degree of progress in walking training and the degree of recovery of the walking function of the user. For example, it is necessary to determine whether or not the user has recovered to a state where he/she can walk using a silver car or a cane without using a walker having elbow rests.

However, conventionally, the determination is generally made based on the result of visual observation of the user's walking motion, the user's impression, the staff's experience, and the like. For this reason, the judgment tends to lack objectivity and tends to vary depending on the staff. As a result, there is a concern that the judgment will be inappropriate.
In addition, it is difficult for the user to quantitatively recognize the effect of walking training and the degree of recovery of walking function with a conventional walker, and thus it is difficult to increase motivation for walking training.

The present invention has been made in view of this background, and allows users and staff to appropriately obtain useful information that facilitates quantitative determination of the progress of walking training of the user and the degree of recovery of walking function. It is an object of the present invention to provide a walker for rehabilitation and a system for walking training.

In order to achieve the above objects, the rehabilitation walker of the present invention
A frame movable on the floor, a pair of elbow rests placed on the upper part of the frame and mounted on the frame so that the left and right elbows of the user can be placed respectively, and a pair of elbow rests in front of the elbow rests. a pair of grips arranged and mounted on the frame so that the user can hold them with left and right hands, respectively, in a state in which the user puts his or her elbows on the elbow rests, or the use A state in which the user holds the grip with each hand, or a state in which the user puts each elbow on the elbow rest and holds the grip with each hand, accompanies the user's walking motion , a rehabilitation walker configured to move with the user,
a first load sensor that detects an elbow load, which is a load acting from the elbow on each of the elbow rests on which the elbows of the user are placed;
a second load sensor for detecting a hand load, which is a load acting on each of the grips held by the user's hands from the hands;
and an information processing device for outputting notification information regarding detected values of the elbow load and the hand load (first invention).

Here, according to various investigations by the inventors of the present application, the elbow load and the hand load applied by the user to the rehabilitation walker provided with the elbow rest and the grip are In order to support the user's body weight (gravitational force acting on the user), the elbow rest and the grip act on the user's body.

For example, when the user's leg strength recovers to some extent (when the user is able to support his or her own weight with both legs to some extent during walking), the user can increase the elbow load in the vertical direction and the vertical direction. A walking motion can be performed without increasing the hand load so much. In addition, for example, when the user's walking function recovers to the extent that the user can perform a walking motion while thrusting a cane with one hand, the user's hand load on one hand becomes relatively large. You will be able to perform walking motions.

Therefore, in the rehabilitation walker of the first invention, the information processing device outputs notification information regarding the detected values of the elbow load and the hand load. This notification information enables the staff engaged in the user's walking training and the user to quantitatively recognize the degree of progress of the user's walking training and the degree of recovery of the walking function.

Therefore, according to the rehabilitation walker of the first invention, users and staff can appropriately obtain useful information that makes it easy to quantitatively determine the progress of walking training of the user and the degree of recovery of walking function. becomes.

In the first invention, the elbow load detected by the first load sensor includes at least a vertical load, and the hand load detected by the second load sensor includes at least a vertical load or the load of the user. It is preferable to include a load in the forward direction (second invention). In this case, it is more preferable that the manual load includes at least a vertical load.

Here, the load in the vertical direction of the elbow load is, for example, how much of the user's own weight is supported by the elbow placed on the elbow rest during walking. be an indicator. In addition, of the hand load, the load in the vertical direction and the load in the forward direction of the user are, for example, how much load is supported by the cane when the user walks with a cane with one hand. It is an indicator of whether you can step forward while doing so. Therefore, according to the second invention, the staff and the user can obtain particularly useful information for judging the degree of progress of the user's walking training and the degree of recovery of the walking function.

In the first or second invention, the information processing device includes a display that can be visually recognized by the user while the user is walking, and a predetermined type of display is displayed during the user's walking. It is preferable to have a function of displaying on the display device while sequentially updating the notification information to be displayed, which is the notification information (third invention).

According to this, the user can walk using the rehabilitation walker while confirming the display object notification information regarding the detected values of the elbow load and the hand load in real time through the display device. This makes it easier to quantitatively recognize the degree of recovery of walking function and the guideline for walking motion during walking training.

In the third aspect of the invention, the display object notification information to be displayed on the display device is the ratio between the detected values of the elbow load in the vertical direction on each of the left and right sides of the user and the body weight of the user. 1 state quantity, a first left-right state quantity that is the ratio, difference, or absolute difference between the first state quantity on the left side of the user and the first state quantity on the right side of the user, and the left-right state quantity of the user A second state quantity that is the ratio of the detected value of the hand load in the vertical direction on each side of the user and the weight of the user, and the second state quantity on the left side of the user and the A second left-right state quantity that is a ratio, a difference, or an absolute difference from the second state quantity, and a detected value of the elbow load in the vertical direction and a detected value of the hand load in the vertical direction on each of the left and right sides of the user. and a third left-right state quantity that is the ratio, difference, or absolute difference between the third state quantity on the left side of the user and the third state quantity on the right side of the user , a fourth state quantity that is a ratio of the detected value of the hand load in the forward direction and the detected value of the hand load in the vertical direction on each of the left and right sides of the user; Information indicating any one of the fourth left-right state quantity, which is the ratio, difference, or absolute difference between the fourth state quantity on the left side and the fourth state quantity on the right side of the user, or the state It is preferable to include at least information indicating a comparison between the quantity and the appropriate range for the state quantity (fourth invention). In this case, it is particularly preferable that the display target notification information includes any one of the first state quantity, the second state quantity, the third state quantity and the fourth state quantity. Further, for example, the type of the display target notification information may be changed according to the degree of progress of the user's walking training, the degree of recovery of the walking function, or the like.

The weight of the user in the present invention may be the weight in units of mass or the weight in terms of gravity (=gravitational acceleration×mass). This applies not only to the fourth invention, but also to other inventions described later.

According to the fourth aspect of the invention, the user can select display target notification information (first state quantity, first left-right state quantity, , the second state quantity, the second left-right state quantity, the third state quantity, the third left-right state quantity, the fourth state quantity, or the fourth left-right state quantity) can be sequentially checked on the display device during walking training. can. Therefore, while recognizing the relationship between the user's own movement in the walking motion and the information to be displayed, the user can perform the walking motion so as to enhance the effect of the walking training.

For example, the first state quantity determines how much of the user's body weight is supported by the left and right elbows placed on the elbow rests, or how much of the weight is supported by the left and right elbows. It is possible to quantitatively recognize how much the elbow load can be reduced relative to one's own weight. In addition, the user can quantitatively recognize whether or not the elbow load in the vertical direction is balanced between the left and right elbows by the first left-right state quantity.

In addition, the second state quantity allows the user to recognize how much of the user's own weight can be supported by the left and right hands holding the grip. The second left-right state quantity allows the user to determine whether or not the vertical hand load is balanced between the left and right hands, or whether the vertical hand load applied by one hand is balanced by the other hand. It is possible to quantitatively recognize whether or not it is possible to sufficiently increase the hand load in the direction.

The third state quantity allows the user to quantitatively recognize how much the vertical hand load can be increased compared to the vertical elbow load on each of the left and right sides. can do. In addition, the third left-right state quantity allows the user to quantitatively recognize how much the third state quantity on one of the left and right sides can be made larger than the third state quantity on the other side.

Further, according to the fourth state quantity, the user can apply a load to the grip with the right and left hands holding the grip so that the hand load in the forward direction is greater than the hand load in the vertical direction. It is possible to quantitatively recognize whether it is possible or not. In addition, the user can quantitatively recognize by how much the fourth state quantity on one side of the left and right can be made larger than the fourth state quantity on the other side by the fourth left-right state quantity.

Furthermore, by causing the display to display information to be displayed indicating the comparison between each state quantity and the proper range of the state quantity, the user can keep the state quantity within the proper range during walking. In addition, it becomes easier to quantitatively recognize guidelines for how much load should be applied to the left and right grips and elbow rests.

In the third invention or the fourth invention, the information processing device has a function of determining whether the degree of left-right balance of the user is appropriate with respect to the display target notification information to be displayed on the display device. In addition to sequentially displaying the target notification information on the display device, it is preferable to further have a function of sequentially outputting notification information indicating the result of the determination to the user (fifth invention).

According to this, the user can easily recognize in real time whether the degree of balance between the left and right sides of the display target notification information displayed on the display device is appropriate, and furthermore, it is possible to improve the degree of balance. It becomes possible to consciously perform a walking motion. In addition, the output of the determination result of the appropriateness of the degree of balance is not limited to visual notification by the display device, but may be auditory notification such as voice or alarm sound, or tactile notification such as vibrator. good.

In the fifth aspect of the invention, the information processing device determines whether the degree of balance is appropriate or not, and the display object notification information is the detection value of the elbow load in the vertical direction on each of the left and right sides of the user. A first state quantity that is a ratio to the body weight of the user; a second state quantity which is a ratio of the detected value of the hand load in the vertical direction on each of the left and right sides of the user to the body weight of the user; It is preferable that at least one of the two state quantities and the second left-right state quantity, which is the ratio, difference, or absolute difference between the two state quantities and the second state quantity on the right side of the user (sixth invention). . In this case, it is particularly preferable that the display target notification information for which the appropriateness of the degree of balance is determined includes the first left-right state quantity or the second left-right state quantity.

Here, when the user walks with the left and right elbows placed on the elbow rests, the left and right elbow loads (elbow loads in the vertical direction) are balanced (the left and right elbow loads are balanced). are of similar size to each other). For this reason, by sequentially displaying the determination results of the right and left first state quantities or the degree of balance of the first left and right state quantities on the display, the user can easily understand the left and right elbow loads (elbow loads in the vertical direction). It is possible to perform walking training while being conscious of performing walking motions so that the balance can be obtained.

In addition, when the user performs walking training with the aim of walking while pushing the cane with one hand, one of the left and right hands holding the grip (the user's dominant hand) will be able to support the weight. is preferred. For this reason, by sequentially displaying on the display device the determination result of the appropriateness of the degree of balance between the left and right second state quantities or the degree of balance of the second left and right state quantities, the user can easily grasp the second state quantity on one of the left and right sides (dominant hand side). It is possible to perform walking training while being conscious of performing a walking motion so that the state quantity is large enough to support one's own weight compared to the second state quantity on the other side.

In the above first to sixth inventions, the information processing device further has a function of calculating a predetermined type of evaluation index relating to the user's walking motion from the collected data of the detected values of the elbow load and the hand load. Preferably, the notification information output by the information processing device includes the predetermined type of evaluation index (seventh invention).
According to this, the staff and the user can appropriately and quantitatively grasp the degree of progress of the user's walking training and the degree of recovery of the walking function from the predetermined types of evaluation indices.

In the seventh invention, the predetermined type of evaluation index includes a first state quantity that is a ratio between the detected value of the elbow load in the vertical direction on each of the left and right sides of the user and the body weight of the user; A first left-right state quantity that is a ratio, difference, or absolute difference between the first state quantity on the left side of the user and the first state quantity on the right side of the user, and a first left-right state quantity on each of the left and right sides of the user A second state quantity that is the ratio of the detected value of the hand load in the vertical direction to the body weight of the user, and the second state quantity on the left side of the user and the second state quantity on the right side of the user. and the ratio between the detected value of the elbow load in the vertical direction and the detected value of the hand load in the vertical direction on each of the left and right sides of the user. a third state quantity, a third left-right state quantity that is a ratio or difference or an absolute difference between the third state quantity on the left side of the user and the third state quantity on the right side of the user; a fourth state quantity, which is a ratio of the detected value of the hand load in the forward direction and the detected value of the hand load in the vertical direction on each of the left and right sides of the user; Information indicating the average value of the state quantity to be evaluated, which is either the ratio or difference between the state quantity and the fourth state quantity on the right side of the user, or the fourth left-right state quantity, which is the absolute difference , information indicating the degree of variation in the state quantity to be evaluated, and information indicating the deviation time ratio, which is the ratio of the time period during which the state quantity to be evaluated deviates from the appropriate range to the entire walking period. It is preferable to include (8th invention). In this case, it is particularly preferable that the predetermined type of evaluation index includes information indicating an average value of the evaluation target state quantity. Further, for example, the type of evaluation index to be output as notification information may be changed according to the degree of progress of walking training of the user, the degree of recovery of walking function, or the like.

According to this, the evaluation target state quantity (first state quantity, first left-right state quantity, second state quantity, second left-right state quantity, third state quantity, third left-right state quantity, fourth state quantity, or the fourth left-right state quantity) is, as described above, an index that is highly correlated with the degree of progress in walking training of the user and the degree of recovery of the walking function. information indicating the average value of the state quantity to be evaluated, information indicating the degree of dispersion of the state quantity to be evaluated (for example, the variance or standard deviation of the state quantity to be evaluated), and information indicating the deviation time ratio of the state quantity to be evaluated From the three or more pieces of information, it is possible to clarify the guideline for walking training and appropriately grasp the degree of progress of walking training and the degree of recovery of walking function.

In the above first to eighth inventions, the information processing device further has a function of determining whether or not the rehabilitation walker is in a straight-ahead state, and the rehabilitation walker is determined to be in a straight-ahead state. The notification information to be output based on the detected value of at least one of the elbow load and hand load in a situation where the It is preferably configured to generate (ninth invention).

According to this, the information processing device has a function of determining whether or not the user is in a straight-ahead state, so that the elbow load and the hand load do not change due to a change in direction during walking of the user. Since the notification information to be output is generated based on the detected value of at least one of the load and the hand load, or the value calculated from the detected value of at least one of the elbow load and the hand load in the situation, it is possible to perform walking training. It is possible to output highly reliable notification information that has a high correlation with the degree of progress and the degree of recovery of the walking function.

In the above first to ninth inventions, it is preferable that the information processing device further comprises a function of determining whether the user's walking motion is straight or not, and outputting notification information indicating the result of the determination. invention).
According to this, the staff and the user can recognize whether the walking motion of the user is performed with high straightness or whether the user tends to wobble (low straightness) from the notification information indicating the determination result. Therefore, the notification information can be used as an index for evaluating the progress of walking training of the user and the recovery of walking function. The degree of straightness can be determined, for example, based on the degree of variation (for example, dispersion, standard deviation, etc.) of the detection value of a sensor (for example, an angular velocity sensor) that responds to the degree of straightness.

In the first to tenth inventions, the information processing device measures at least one of the user's step count and movement acceleration through communication with a motion measuring device capable of measuring at least one of the user's step count and movement acceleration. and a function of outputting notification information generated using the measurement data (eleventh invention). As the exercise measuring device, devices that can be carried or worn by the user, such as a smart phone, a pedometer, and a dedicated sensor, can be used.

According to this, the information processing device can obtain the measurement data of the number of steps and the movement acceleration of the user by using the exercise measuring device, so that an increase in the cost of the rehabilitation walker can be suppressed. In addition, since the acquired data can be reflected in the notification information to be output, it is possible to enhance the usefulness of the notification information.

In addition, in order to achieve the above object, the walking training system of the present invention includes:
A frame movable on the floor surface, a pair of elbow rests placed on the upper part of the frame and mounted on the frame so that the user can rest his/her left and right elbows, and the front of the elbow rests. and a pair of grips mounted on the frame so that the user can hold each with left and right hands, and the user puts each elbow on the elbow rest, or the When the user holds the grip with each hand, or when the user puts each elbow on the elbow rest and holds the grip with each hand, the walking motion of the user , a gait training system using a rehabilitation walker configured to move with the user,
a first load sensor mounted on the rehabilitation walker so as to detect an elbow load acting from the elbow on each of the elbow rests on which the elbows of the user are placed;
a second load sensor mounted on the walker for rehabilitation so as to detect a hand load acting on each of the grips held by each hand of the user;
and an information processing device for outputting notification information regarding detected values of the elbow load and the hand load (a twelfth invention).

According to this, as in the first invention, the user and the staff can appropriately obtain useful information that makes it easy to quantitatively determine the progress of walking training of the user and the degree of recovery of the walking function. Become. Such a walking training system may be incorporated into, for example, a treadmill-type walking machine. Incidentally, in the twelfth invention, it is also possible to employ the same aspects as those of the second to eleventh inventions.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view of the whole walker for rehabilitation of embodiment of this invention. 1 is a perspective view of the front portion of the walker for rehabilitation according to the embodiment; FIG. FIG. 2 is a block diagram showing the configuration related to information processing of the rehabilitation walker according to the embodiment; The figure which shows an example of the alerting|reporting information displayed on a display during execution of walking training. The figure which shows the 1st example of the alerting|reporting information displayed on a display after completion|finish of walking training. The figure which shows the 2nd example of the alerting|reporting information displayed on a display after completion|finish of walking training. The figure which shows the 3rd example of the alerting|reporting information displayed on a display after completion|finish of walking training. The figure which shows the 4th example of the alerting|reporting information displayed on a display after completion|finish of walking training.

One embodiment of the invention is described below with reference to FIGS. Referring to FIGS. 1 and 2, a rehabilitation walker 1 (hereinafter simply referred to as walker 1) of this embodiment includes a frame 2 that is movable on a floor surface, and an upper portion of the frame 2 that is arranged to be used. A pair of elbow rests 3L, 3R are mounted on the frame 2 so that the left and right elbows of the user P can be placed thereon, and the elbow rests 3L, 3R are arranged in front of the elbow rests 3L, 3R, and are held by the left and right hands of the user P, respectively. A pair of first grips 4L, 4R and a pair of second grips 5L, 5R are mounted on the frame 2 so as to be able to do so.

In addition, the walker 1 of this embodiment also has a function as a walking training system. In addition, in the rollator 1 of the present embodiment, the first grips 4L and 4R function as grips in the present invention, and the second grips 5L and 5R are used to perform a braking operation to stop the rollator 1. Additional grip. In addition, in the walker 1 of the present embodiment, the front-rear direction and the left-right direction of the frame 2 (or the front-rear direction and the left-right direction of the walker 1) are the directions shown in FIGS. In the following description, unless otherwise specified, "front-rear direction" and "left-right direction" mean the directions shown in FIGS. Further, in the description of the present embodiment, the reference numerals with "L" indicate the members on the left side of the walker 1, and the reference numerals with "R" indicate the members on the right side of the walker 1. is a reference sign. However, when there is no need to distinguish between left and right, addition of "L" and "R" may be omitted.

The frame 2 includes an upper frame 21 and a lower frame 22 vertically spaced apart, vertical frames 23L and 23R connecting the upper frame 21 and the lower frame 22, and four frames assembled to the lower frame 22. and wheels 24 .

Both the upper frame 21 and the lower frame 22 are frames formed in a substantially U shape when viewed from above, and are arranged so that their open side ends face rearward.

The vertical frames 23L and 23R are arranged on the left and right sides of the upper frame 21 and the lower frame 22 so as to extend vertically. Upper ends of the vertical frames 23L and 23R are fixed to the left and right sides of the upper frame 21, respectively, and lower ends of the vertical frames 23L and 23R are fixed to the left and right sides of the lower frame 22, respectively. there is Thereby, the upper frame 21 and the lower frame 22 are connected via the left and right vertical frames 23L, 23R.

The four wheels 24 are arranged at the front and rear portions of the left and right sides of the lower frame 22, respectively, and are in contact with the floor below the lower frame 22 so that they can roll on the floor. , and is assembled to the lower frame 22 so as to be able to turn in the yaw direction (vertical direction around the axis). Each of these wheels 24 can be configured by, for example, a swivel caster.

In this embodiment, since the frame 2 is configured as described above, the wheels 24 that are in contact with the floor surface roll, and the frame 2 can move in any direction on the floor surface by turning as appropriate. is.

Each of the elbow rests 3L and 3R is formed in a shape elongated in the front-rear direction, and its upper surface is formed in a flat surface shape having cushioning properties. The elbow rests 3L and 3R are attached to the left and right sides of the upper frame 21, respectively. In this case, each elbow rest 3 may be attached to each of the left and right side portions of the upper frame 21 so as to be able to adjust the position in the front-rear direction or the position in the left-right direction with respect to the frame 2 .

Each of the first grips 4L, 4R is arranged to extend in the left-right direction in front of each of the left and right elbow rests 3L, 3R. As shown in FIG. 2, the first grips 4L and 4R are flat plate-shaped first grips that extend forward from the upper surface of the front portion of the upper frame 21 (the portion that connects the left and right sides). It is attached to one base 41 via an attachment member 42 and a pair of plate members 43L and 43R.

Specifically, the mounting member 42 is arranged so as to extend in the left-right direction at a central portion in the left-right direction on the upper surface of the first base 41 and is fixed to the first base 41 . In addition, the plate members 43L and 43R are attached to the mounting member 42 so as to stand upward from the left and right portions of the mounting member 42 with their respective normal directions facing forward and backward. installed. Although a plurality of holes are formed in each plate member 43 in FIG. 2, these holes may be omitted.

The left first grip 4L is attached to the plate member 43L so as to extend leftward from the upper left end of the left plate member 43L, and the right first grip 4R is attached to the right plate member 43R. It is attached to the plate member 43R so as to extend rightward from the right end of the upper portion. In this case, the first grips 4L and 4R are formed by, for example, inserting core members (not shown) projecting from the plate members 43L and 43R into the first grips 4L and 4R, respectively. be worn.

Each of the second grips 5L, 5R is arranged to extend in the vertical direction on the front side of each of the first grips 4L, 4R. As shown in FIG. 2, the lower ends of the second grips 5L and 5R have mounting members 51L and 51R attached to the left and right front portions of the upper frame 21, respectively. attached through
Further, the second grips 5L and 5R are provided with brake levers 52L and 52L for applying braking force to the left and right rear wheels (wheels 24 on the rear side of the lower frame 22) of the wheels 24 via wires 53L and 53R. 52R are attached respectively.

The mechanical configuration of the walker 1 of this embodiment is configured as described above. In the walker 1 configured in this way, the user P stands between the left and right sides of the upper frame 21 and the lower frame 22, and puts the left and right elbows on the elbows, respectively, as shown in FIG. It is possible to place it on the parts 3L and 3R, or to grip each of the first grips 4L and 4R (or each of the second grips 5L and 5R) with the left and right hands. When the user P walks while holding the first grips 4L and 4R (or the second grips 5L and 5R), the walker 1 moves on the floor together with the user P. Moving.

As shown in FIG. 3, the walker 1 of the present embodiment is further equipped with an information processing device 6 including a display 61 and a plurality of sensors. The plurality of sensors include a wheel rotation speed sensor 10 for detecting the rotation speed (rotation speed) of one of the wheels 24, and left and right elbow rests on which the left and right elbows of the user P are placed. First load sensors 11L, 11R (hereinafter referred to as elbow load sensors 11L, 11R) for detecting loads (elbow loads) acting on 3L, 3R from the left and right elbows of the user P, respectively; Second load sensors 12L, 12R for detecting loads (hand loads) acting from the left and right hands of the user P on the left and right first grips 4L, 4R respectively grasped by the left and right hands of the user P. (hereinafter referred to as hand load sensors 12L and 12R) and an angular velocity sensor 13 for detecting the angular velocity (yaw rate) of the walker 1 in the yaw direction.

It comprises a wheel speed sensor 10 and, for example, a photoreflector, a rotary encoder, etc. Although detailed illustration is omitted, a pulse signal is output to each wheel 24 at each predetermined rotation angle of the wheel 24. Assembled. It should be noted that the wheel speed sensor 10 may be attached to not only one wheel 24 but also a plurality of wheels 24 .

Each elbow load sensor 11 is composed of, for example, a force sensor such as a load cell, and as shown in FIG. is interposed between the sides of the In this case, in this embodiment, each elbow load sensor 11 is configured to detect the vertical elbow load among the elbow loads acting on each elbow rest 3 . Each elbow load sensor 11 may be configured to detect not only the elbow load in the vertical direction but also the elbow load in other directions.

Each hand load sensor 12 is composed of, for example, a force sensor such as a load cell, and as shown in FIG. 42 is assembled. In this case, in the present embodiment, each hand load sensor 12 is configured to detect the vertical hand load and the forward hand load among the hand loads acting on the first grips 4. there is Each hand load sensor 12 may be an integrated sensor capable of detecting hand load in two axial directions. may be configured to Further, each hand load sensor 12 may be configured to detect not only the vertical hand load and the forward hand load, but also the hand load in other directions.

The angular velocity sensor 13 is composed of a gyro sensor or the like, and is mounted at the center of the frame 21 in the horizontal direction so as to detect the angular velocity of the walker 1 in the yaw direction (the vertical direction around the axis). For example, the angular velocity sensor 13 can be attached to the mounting member 42 as illustrated in FIG.

The information processing device 6 includes a main processing unit 60 having a display 61 and an auxiliary processing unit 65 in this embodiment. The auxiliary processing unit 65 is a processing unit that mainly has a function of performing measurement data acquisition processing and the like, and includes, for example, a processor such as a microcomputer (not shown), memory (RAM, ROM, etc.), an interface circuit, a communication circuit, and the like. Consists of one or more electronic circuit units. The auxiliary processing unit 65 is mounted at any suitable location on the walker 1 . For example, as shown in FIG. 1, the auxiliary processing section 65 can be mounted on the vertical frame 23L (or 23R) of the frame 2. As shown in FIG.

Detection signals from the wheel speed sensor 10, the elbow load sensors 11L and 11R, the hand load sensors 12L and 12R, and the angular velocity sensor 13 are input to the auxiliary processing section 65. FIG. The auxiliary processing unit 65 is a movement measuring unit that measures the movement speed and movement distance of the walker 1 from the detection signal of the wheel rotation speed sensor 10 as a function realized by the implemented hardware configuration and program (software). an elbow load measurement unit 65b that measures left and right elbow loads (elbow loads in the vertical direction) from detection signals from elbow load sensors 11L and 11R; A hand load measurement unit 65c that measures each hand load (hand load in the vertical direction and hand load in the forward direction), and a straight travel that determines whether the walker 1 is in a straight travel state based on the detection signal of the angular velocity sensor 13. It has a determination unit 65d and a communication processing unit 65e that communicates with the main body processing unit 60 by wire or wirelessly.

Here, the movement measuring unit 65a measures the number of pulses (cumulative number of pulses) output from the wheel rotation speed sensor 10 during the walking motion of the user P, and the movement distance (predetermined value) of the wheels 24 for each pulse. , the moving distance of the walker 1 can be calculated. Furthermore, the movement measuring unit 65a can calculate the movement speed of the walker 1 by dividing the movement distance by the accumulated time of the pulses output from the wheel rotation speed sensor 10. FIG.

Further, for example, when the absolute value of the detected value of the angular velocity in the yaw direction (yaw rate) indicated by the detection signal of the angular velocity sensor 13 is equal to or less than a predetermined threshold value, the straight traveling determination unit 65d determines that the walker 1 is traveling straight. (In other words, the user P is traveling straight), and when the absolute value of the detected value of the angular velocity in the yaw direction (yaw rate) exceeds a predetermined threshold, the walker 1 is traveling straight. It is judged that it is not in the state.

Furthermore, in the present embodiment, the auxiliary processing unit 65 uses a smart phone, smart watch, pedometer, dedicated sensor, or the like, which the user P carries or wears, as appropriate. It also has a function of communicating with the device 80 by wireless communication methods such as Bluetooth (registered trademark), Wi-Fi (registered trademark), and infrared communication. Through communication with the motion measuring device 80 , the auxiliary processing unit 65 can appropriately acquire the measurement data of the number of steps of the user P and the movement acceleration from the motion measuring device 80 . In addition, in FIG. 3, the smart phone is illustrated as the exercise|movement measuring device 80, for example.

In this embodiment, the main body processing unit 60 is configured by, for example, a tablet terminal having a display device 61 configured by a liquid crystal display or the like and a sound generator 62 configured by a speaker or the like, or a mobile personal computer or the like. The walker 1 includes a terminal mounting portion 63 to which the body processing portion 60 can be detachably mounted.

Specifically, referring to FIGS. 1 and 2, the walker 1 has a flat plate-like first plate extending from the lower surface of the upper frame 21 to the front side of the first base 41 so as to protrude forward. Two bases 64 are provided, and a terminal mounting portion 63 is attached to the front portion of the upper surface of the second base 64 (the portion projecting forward from the front end of the first base 41).

In this case, the terminal mounting unit 63 is configured so that the display unit 61 of the main processing unit 60 faces the head of the user P, and the main processing unit 60 can be mounted in an upright posture. An operation portion 63a for adjusting the inclination angle of the main body processing portion 60 is provided. 1 shows a state in which the main body processing section 60 is attached to the terminal mounting section 63, and FIG. 2 shows a state in which the main body processing section 60 is removed from the terminal mounting section 63. As shown in FIG. When the main body processing unit 60 is attached to the terminal mounting unit 63, the user P who performs walking using the walker 1 can view the screen of the display 61 of the main body processing unit 60 at any time. be

The main processing unit 60 mounted on the terminal mounting unit 63 configured as described above incorporates an electronic circuit unit including a processor such as a microcomputer (not shown), memory (RAM, ROM, etc.), an interface circuit, a communication circuit, and the like. In addition, a required walking training application (program) is installed in advance. The main processing unit 60 includes a notification information generation unit 60a that generates various notification information related to walking training, and a display device that displays the notification information, as functions realized by the implemented hardware configuration and the walking training application. 61 or a notification information output unit 60b for outputting output via a sound generator 62, and a communication processing unit 60c for performing wired or wireless communication with the auxiliary processing unit 65. FIG.

Supplementally, the body processing unit 60 may be configured by an electronic circuit unit that does not include one or both of the display 61 and the sound generator 62 . A separate display or sound generator from the main processing unit 60 may be detachably attached to the walker 1 or may be mounted in advance.

Next, the operation of the walker 1 for walking training of the user P will be described. In this embodiment, the user P who is going to perform walking training performs walking training using the rollator 1 according to the instructions of the staff. In this case, walking training using the walker 1 is classified into, for example, three phases (stages) of first to third. The first phase is a phase in which the user P places his left and right elbows on the elbow rests 3L and 3R and performs a walking motion while supporting his upper body mainly with his left and right elbows. A phase in which the user P grips the first grips 4L and 4R with his left and right hands and walks while supporting his upper body mainly with his left and right hands. In this phase, the user holds the first grip 4L or 4R with one of the left and right hands (dominant hand) and performs a walking motion while supporting the upper body of the user mainly with the one hand.

The walking training of the first phase is walking training for the main purpose of recovering the leg strength of the user P as much as possible (making it possible for the user P to support most of his weight with his legs). For this reason, in the walking training of the first phase, the user P is instructed by the staff to perform a walking motion with the goal of minimizing the load on the left and right elbows (the load on the elbows in the vertical direction). Further, the main processing unit 60 of the information processing device 6 is set to execute processing in the operation mode for the first phase by the staff's operation or the like.

In the walking training of the first phase, during the walking motion of the user P using the walker 1, the main processing unit 60 causes the display device 61 to display the display object notification information for the first phase while sequentially updating it. . Specifically, the main processing unit 60 sequentially acquires detected values of the vertical elbow loads of the left and right elbows of the user P from the elbow load measuring unit 65 b of the auxiliary processing unit 65 .

Then, the body processing unit 60 generates a first state quantity (= The notification information generation unit 60a sequentially calculates the vertical elbow load/body weight) as display target notification information. Further, the main body processing unit 60 causes the notification information output unit 60b to cause the display device 61 to sequentially display the display target notification information indicating the calculated values of the first state quantities for the right and left sides of the user P in real time.

In this case, the notification information output unit 60b of the main body processing unit 60 outputs the notification information indicating the appropriate range of the first state quantity in addition to the display target notification information indicating the calculated value of the first state quantity. is displayed on the display 61 as . The proper range of the first state quantity is, for example, a range equal to or less than a predetermined upper limit.

These display target notification information may be displayed on the display 61 as numerical information, but may also be displayed on the display 61 in the form of a graph, for example, as shown in FIG. In the example shown in FIG. 4, a bar graph (solid line bar graph on the left in FIG. 4) showing the calculated value (current value) of the first state quantity related to the elbow load on the left side and the calculated value of the first state quantity related to the elbow load on the right side (current value) (the solid line bar graph on the right in FIG. 4) is displayed in parallel on the display 61, and the line representing the upper limit value of the appropriate range of the first state quantity (the dashed line in FIG. 4) line) is displayed on the display 61 . In the example shown in FIG. 4, a bar graph (in FIG. 4, a two-dot chain line bar graph) showing the previous values (average values in the previous walking training) of the left and right first state quantities is also displayed.

In this way, the display object notification information indicating the calculated values of the first state quantities related to the left and right elbow loads is sequentially displayed on the display 61 in real time, so that the user P can, by the display object notification information, It is possible to quantitatively recognize in real time how the left and right first state quantities change depending on how the user walks. Therefore, the user P can easily adjust the walking motion so that the left and right first state quantities are minimized (so that the left and right elbow loads are minimized).

In addition, since the notification information indicating the upper limit of the proper range of the first state quantity is also displayed on the display 61 as the display target notification information, the user P can determine the calculated values of the left and right first state quantities by his/her walking motion. , and the upper limit of the appropriate range can be quantitatively recognized in real time while walking. Therefore, it becomes easier for the user P to consciously adjust the walking motion so that the left and right first state quantities do not exceed the upper limit values (so that the left and right elbow loads do not become too large).

Here, when the calculated value of the first state quantity on either the left or right deviates from the appropriate range (exceeds the upper limit value), the main processing unit 60 outputs the first state quantity which is alarm information to that effect. The amount deviation warning information may be output to the user P. In this case, as an output form of the first state quantity deviation warning information, for example, display of notification information indicating a calculated value of the first state quantity deviating from the appropriate range among the display target notification information displayed on the display 61 By changing the color, blinking the notification information, or additionally displaying character information or symbol information indicating the elbow load deviation warning information on the display 61, the user P can visually display the first information. Any output form that makes it easy to notice the state quantity deviation alarm information can be adopted.

Alternatively, in addition to the visual output form by the display device 61, or instead of it, the sound generator 62 of the main body processing unit 60 outputs the first state quantity deviation by voice, alarm sound, etc. (in an auditory output form) Warning information may be output. Alternatively, by vibrating predetermined portions of the walker 1 such as the elbow rests 3L and 3R or the first grips 4L and 4R (in a tactile output form), the first state quantity deviation warning information is output. may By outputting the first state quantity deviation warning information to the user P in this way, the user P can easily and reliably detect that the calculated value of the first state quantity of either the left or right deviates from the appropriate range. recognizable.

Furthermore, in the first phase of gait training, not only were the left and right elbow loads (vertical elbow loads) as small as possible, but also the left and right elbow loads were balanced (left and right elbow loads, respectively). It is desirable that the elbow loads are comparable to each other).

Therefore, in the present embodiment, the main body processing unit 60 provides a first left-right state quantity that is the ratio of the left first state quantity to the right first state quantity (=the ratio of the left elbow load to the right elbow load ) is further calculated as an index indicating the degree of balance between the left and right elbow loads, and the calculated value of the first left-right state quantity is within a predetermined appropriate range around "1" (the lower limit value slightly smaller than "1" and " 1” and the upper limit slightly larger than 1”), elbow load left/right balance warning information, which is warning information indicating that, is output to the user P.

The difference or absolute difference (absolute value of the difference) between the first state quantity on the left side and the first state quantity on the right side is calculated as the first left-right state quantity, and this first left-right state quantity deviates from a predetermined appropriate range. In this case, the elbow load left/right balance warning information may be output. In this case, when the difference between the left first state quantity and the right first state quantity is adopted as the first left-right state quantity, the appropriate range is, for example, a lower limit slightly smaller than "0". A range between and an upper limit slightly greater than "0" may be employed. Further, when the absolute difference between the left first state quantity and the right first state quantity is adopted as the first left-right state quantity, the appropriate range is, for example, an upper limit slightly larger than "0" or less. can be employed. Thus, the appropriate range of the first state quantity can be set as described above depending on which one of the ratio, difference, or absolute difference between the left and right first state quantities is adopted as the first left-right state quantity. This also applies to the second left-right state quantity, the third left-right state quantity, and the fourth left-right state quantity, which will be described later.

As an output form of the elbow load left-right balance warning information, for example, among the notification information displayed on the display device 61, the notification information indicating the calculated value of the first state quantity on the left side and the calculated value of the first state quantity on the right side are displayed. change the display color of both the notification information to be displayed, or blink both of the notification information, or additionally display character information or symbol information, etc., indicating the elbow load left-right balance warning information on the display 61 For example, any output form that allows the user P to easily notice the elbow load left/right balance warning information visually can be adopted.

Alternatively, in addition to the visual output form on the display device 61, or instead of it, from the sound generator 62 of the main body processing unit 60, the elbow load left-right balance is output by voice, alarm sound, etc. (in an auditory output form). Warning information may be output. Alternatively, by vibrating predetermined parts of the walker 1 such as the elbow rests 3L and 3R or the first grips 4L and 4R (in a tactile output form), the elbow load left-right balance warning information is output. good too. By outputting the elbow load left/right balance warning information to the user P in this way, the user P can easily and reliably recognize that the degree of left/right elbow load balance is low. Therefore, it becomes easier for the user P to consciously adjust the walking motion so as to balance the left and right elbow loads.

Supplementally, in the walking training of the first phase, in addition to displaying the notification information indicating the calculated value of the first state quantity and the notification information indicating the appropriate range of the first state quantity on the display 61, Notification information indicating the calculated value of the first left-right state quantity (in other words, notification information indicating the degree of balance between left and right elbow loads) and notification information indicating the proper range of the first left-right state quantity are displayed on the display 61. You can let it run.

Further, instead of displaying the notification information indicating the calculated value of the first state quantity and the notification information indicating the appropriate range of the first state quantity on the display 61, the notification information indicating the detected values of the left and right elbow loads, Notification information indicating the proper range of elbow load may be displayed on the display 61 .

Next, in the second phase of walking training, the user P uses a walking aid vehicle such as a silver car to perform walking while supporting the upper body with both hands without supporting the upper body with the elbows. This walking training is mainly aimed at Therefore, in the walking training of the second phase, the user P is instructed by the staff to perform a walking motion with the aim of increasing the vertical hand load among the left and right hand loads as much as possible. Further, the main processing unit 60 of the information processing device 6 is set to execute processing in the operation mode for the second phase by the staff's operation or the like.

In the walking training of the second phase, while the user P is walking using the walker 1, the main processing unit 60 causes the display device 61 to display the display object notification information for the second phase while sequentially updating it. . Specifically, the main processing unit 60 obtains the detected values of the vertical elbow load on each of the left and right elbows of the user P from the elbow load measuring unit 65b and the hand load measuring unit 65c of the auxiliary processing unit 65 and the left and right elbow loads. and the detected value of the hand load in the vertical direction for each hand.

Then, the body processing unit 60 calculates a second state quantity (= The vertical hand load/body weight) is sequentially calculated as the notification information to be displayed, and the third state quantity ( = (vertical elbow load/vertical hand load) is sequentially calculated as display target notification information by the notification information generation unit 60a. Furthermore, the main body processing unit 60 sequentially displays the display object notification information indicating the calculated value of the second state quantity for each of the right and left sides of the user P and the display object notification information indicating the calculated value of the third state quantity on the display in real time. 61 is executed by the notification information output unit 60b.

In this case, the notification information output unit 60b of the main body processing unit 60 outputs the second state quantity and the third state quantity in addition to the display target notification information indicating the calculated values of the second state quantity and the third state quantity. Notification information indicating each appropriate range is also displayed on the display 61 as display target notification information. The proper range of the second state quantity is, for example, a range equal to or greater than a predetermined lower limit, and the proper range of the third state quantity is, for example, a range equal to or less than a predetermined upper limit.

These pieces of display target notification information can be sequentially displayed on the display 61 in the same display format as the display target notification information for the first phase, for example. In the walking training of the second phase, as described above, the display target notification information indicating the calculated value of the second state quantity and the calculated value of the third state quantity related to the left and right hand loads is sequentially displayed in real time on the display device 61. , the user P can see how the second state quantity and the third state quantity on the left and right sides change according to the manner of his/her own walking motion according to the display target notification information. can be quantitatively recognized in real time. Therefore, the user P adjusts the walking motion so that the left and right second state quantities become as large as possible (so that the left and right hand loads (vertical hand loads) become as large as possible). It becomes easier to consciously adjust the walking motion so that the third state quantity becomes as small as possible (so that the load on the elbow in the vertical direction becomes smaller than the load on the hand in the vertical direction).

In addition, the notification information indicating the lower limit of the proper range of the second state quantity and the display information indicating the upper limit of the proper range of the third state quantity are also displayed on the display device 61 as display subject notification information. is the magnitude relationship between the calculated value of the left and right second state quantity due to the walking motion and the lower limit value of the appropriate range, and the magnitude relationship between the calculated value of the left and right third state quantity and the upper limit value of the appropriate range. , can be quantitatively recognized in real time while walking. Therefore, the user P must adjust the walking motion so that the second state quantity does not become smaller than the lower limit (so that the vertical hand load does not become too small), and the third state quantity does not become the upper limit. It becomes easier to consciously adjust the walking motion so as not to exceed the value (so that the vertical elbow load does not become too large compared to the vertical hand load).

Here, when the calculated value of the second state quantity on either the left or right side deviates from the appropriate range (below the lower limit value), the main processing unit 60 outputs the second state quantity, which is alarm information to that effect. The amount deviation warning information may be output to the user P. Similarly, when the calculated value of the third state quantity on either the left or right side deviates from the appropriate range (exceeds the upper limit), the main processing unit 60 outputs the third state quantity which is alarm information to that effect. The amount deviation warning information may be output to the user P. As an output form of these warning information, for example, an output form similar to the output form of the above-described first state quantity deviation warning information can be employed.

Furthermore, in the second phase of gait training, not only were the left and right hand loads (vertical hand loads) increased as much as possible, but also the left and right hand loads were balanced (left and right hand loads, respectively). It is desirable that the hand loads in the vertical direction are of the same magnitude as each other).

Therefore, in the present embodiment, the main processing unit 60 converts the second lateral state quantity, which is the ratio, difference, or absolute difference between the left second state quantity and the right second state quantity, into the left and right hand loads (vertical direction). hand load) is further calculated as an index indicating the degree of balance, and when the calculated value of this second left-right state quantity deviates from a predetermined appropriate range, hand load left-right balance warning information that is warning information to that effect is output to the user P. As an output form of the hand load left/right balance warning information, for example, the same output form as the above-described elbow load left/right balance warning information can be adopted.

By outputting the hand load left/right balance warning information regarding the vertical hand load to the user P in this way, the user P is informed that the degree of balance between the left and right hand loads (vertical hand load) is low. can be easily and reliably recognized. Therefore, it becomes easier for the user P to consciously adjust the walking motion so as to balance the left and right hand loads.

Supplementally, in the walking training of the second phase, the notification information indicating the calculated values of the second state quantity and the third state quantity, and the notification information indicating the appropriate range of each of the second state quantity and the third state quantity In addition to being displayed on the display 61, for example, notification information indicating the calculated value of the second left-right state quantity (in other words, notification indicating the degree of balance between left and right hand loads (vertical hand loads) information) and notification information indicating the appropriate range of the second left-right state quantity may be displayed on the display 61 .

Further, for example, a third left-right state quantity, which is the ratio, difference, or absolute difference between the third left-right state quantity and the third right-hand state quantity, is further calculated, and notification information indicating the calculated value of the third left-right state quantity is calculated. (In other words, notification information indicating the degree of balance of the third left and right state quantities) and notification information indicating the appropriate range of the third left and right state quantities are displayed on the display 61. When it deviates from the appropriate range, alarm information (third state quantity left-right balance alarm information) indicating that fact may be output to the user P.

In addition, instead of displaying notification information indicating the calculated value of the second state quantity and notification information indicating the appropriate range of the second state quantity on the display 61, detected values of left and right hand loads (vertical hand loads) and notification information indicating the appropriate range of the hand load may be displayed on the display 61 .

Further, the display of either one of the notification information indicating the calculated values of the second state quantity and the third state quantity on the display 61 may be omitted as appropriate. For example, in the initial stage of walking training in the second phase, with the goal of minimizing the left and right third state quantities (vertical elbow load/vertical hand load), the calculated value of the third state quantity and the notification information indicating the appropriate range of the third state quantity are displayed on the display device 61, while the notification information indicating the calculated value of the second state quantity is displayed on the display device 61. good too.

Then, when the left and right elbow loads become sufficiently small and, in turn, the calculated value of the third state quantity becomes sufficiently small, each of the left and right second state quantities (vertical hand load/body weight) is increased as much as possible. In order to achieve this goal, the notification information indicating the calculated value of the second state quantity and the notification information indicating the appropriate range of the second state quantity are displayed on the display 61, while the notification indicating the calculated value of the third state quantity is displayed. Displaying the information on the display 61 may be omitted.

Next, the walking training of the third phase is walking training mainly aimed at enabling the user P to perform a walking motion while thrusting a cane with one hand. In this case, when walking while thrusting a cane, the upper body of the user P is supported by one hand (dominant hand) that holds the cane, so it is desirable to increase the vertical hand load of the dominant hand as much as possible. Furthermore, in walking while thrusting a cane, it is desirable that the forward hand load of the dominant hand holding the cane be made as large as possible compared to the vertical hand load.

For this reason, in the walking training of the third phase, the user P is instructed by the staff to perform the walking motion with the goal of increasing the vertical hand load of the dominant hand of the left and right hands as much as possible. Alternatively, the user P is instructed by the staff to perform a walking motion with the aim of maximizing the forward hand load relative to the vertical hand load of the dominant hand. Further, the main processing unit 60 of the information processing device 6 is set to execute processing in the operation mode for the third phase by the staff's operation or the like.

In the walking training of the third phase, while the user P is walking using the walker 1, the main processing unit 60 causes the display device 61 to display the display target notification information for the third phase while sequentially updating it. . Specifically, the body processing unit 60 outputs the detection value of the hand load in the vertical direction and the detection value of the hand load in the forward direction on the left and right hands of the user P from the hand load measuring unit 65c of the auxiliary processing unit 65. are obtained sequentially.

Then, the main body processing unit 60 calculates the left and right second state quantities (=hand load/body weight in the vertical direction) and the second left and right state quantities (for example, the second ratio on the left side and the second ratio on the right side) for walking training in the second phase. 2 ratio) is sequentially calculated as the display target notification information, and the fourth state quantity (= front The notification information generation unit 60a sequentially calculates the hand load in the direction/the hand load in the vertical direction as the display target notification information. Further, the main body processing unit 60 generates display object notification information indicating calculated values of the second state quantities for the right and left sides of the user P, display object notification information indicating calculated values of the second left and right state quantities, and fourth state quantities. The notification information output unit 60b sequentially displays on the display 61 in real time the display target notification information indicating the calculated value of .

In this case, the notification information output unit 60b of the main body processing unit 60 outputs the second state quantity in addition to the display target notification information indicating the calculated values of the second state quantity, the second left-right state quantity, and the fourth state quantity. Notification information indicating appropriate ranges of the amount, the second left-right state quantity, and the fourth state quantity is also displayed on the display 61 as display subject notification information.

The appropriate range of the second state quantity is the appropriate range for the second state quantity on the same side as the dominant hand of the user P among the left and right second state quantities, and is, for example, a range equal to or greater than a predetermined lower limit. Further, the appropriate range of the fourth state quantity is the appropriate range for the fourth state quantity on the same side as the dominant hand of the user P among the left and right fourth state quantities, and is, for example, a range equal to or greater than a predetermined lower limit. .

The second left-right state quantity is, for example, a ratio obtained by dividing the vertical hand load of the dominant hand of the user P by the vertical hand load of the other hand (=second state quantity of dominant hand/other side second state quantity). One goal of the third phase walking training is to enable the user P to support the upper body with the dominant hand. Therefore, when the second left-right state quantity is defined as described above, its appropriate range is set as a range equal to or greater than the predetermined lower limit value. The second left-right state quantity may be defined as a difference or an absolute difference between the left and right second state quantities.

The display target notification information for the third phase can be sequentially displayed on the display 61 in the same display form as the display target notification information for the first phase, for example. In the walking training of the third phase, as described above, the display target notification information indicating the calculated value of the second state quantity, the second left-right state quantity, and the calculated value of the fourth state quantity related to the left and right hand loads is displayed in real time. are sequentially displayed on the display 61, the user P can change the second state quantity, the second left-right state quantity, and the fourth state quantity according to the manner of his or her walking motion according to the display target notification information. It is possible to quantitatively recognize in real time how it changes while walking.

Therefore, the user P consciously adjusts the walking motion so that the second state quantity on the same side as the dominant hand becomes as large as possible (so that the hand load in the vertical direction of the dominant hand becomes as large as possible), or , so that the second left-right state quantity becomes as large as possible (so that the vertical hand load on the dominant hand becomes as large as possible compared to the vertical hand load on the other hand), and consciously adjust the walking motion. Alternatively, it becomes easier to consciously adjust the walking motion so that the fourth state quantity on the dominant hand side becomes as large as possible.

In addition, notification information indicating the lower limit value of the appropriate range of the second state quantity for the dominant hand, display information indicating the lower limit value for the second left-right state quantity, and notification information indicating the lower limit value for the fourth state quantity for the dominant hand side are also displayed. Since it is displayed on the display device 61 as the target notification information, the user P can check the magnitude relationship between the calculated value of the second state quantity on the dominant hand side due to his/her walking motion and the lower limit value of the appropriate range, and the second left-right state. Recognize quantitatively in real time, while walking, the magnitude relationship between the calculated amount and the lower limit of the appropriate range, and the calculated value of the fourth state quantity on the dominant hand side and the lower limit of the appropriate range. can.

For this reason, the user P consciously adjusts the walking motion so that the second state quantity on the dominant hand side does not become smaller than the lower limit value (so that the vertical hand load on the dominant hand side does not become too small). Alternatively, the second left-right state quantity should not be less than the lower limit value (the vertical hand load on the dominant hand side should not be too small compared to the vertical hand load on the other side). However, the walking motion should be adjusted so that the fourth state quantity on the dominant hand side does not become smaller than the lower limit (the hand load in the forward direction on the dominant hand side becomes too small compared to the hand load in the vertical direction). ), it becomes easier to consciously adjust the walking motion.

Here, when the calculated value of the second state quantity for the dominant hand side of the user P deviates from the appropriate range (below the lower limit value), the main processing unit 60 outputs alarm information to that effect. The second state quantity deviation warning information may be output to the user P. Similarly, when the calculated value of the second left-right state quantity deviates from the appropriate range, the main processing unit 60 notifies the user P of second left-right state quantity deviation warning information, which is warning information to that effect. You can also output Similarly, when the calculated value of the fourth state quantity for the dominant hand side of the user P deviates from the appropriate range (below the lower limit value), the main processing unit 60 outputs alarm information to that effect. The fourth state quantity deviation warning information may be output to the user P. As an output form of these warning information, for example, an output form similar to the output form of the above-described first state quantity deviation warning information can be adopted.

Supplementally, in the walking training of the third phase, the second state quantity, the second left-right state quantity, and the notification information indicating the calculated value of each of the fourth state quantity, the second state quantity, the second left-right state quantity, and In addition to causing the indicator 61 to display notification information indicating the appropriate range of each of the fourth state quantities, for example, the ratio or the difference or the absolute difference between the left fourth state quantity and the right fourth state quantity The indicator 61 may display notification information indicating the calculated value of the fourth left-right state quantity or notification information indicating the appropriate range of the fourth left-right state quantity.

Further, for example, displaying on the display device 61 notification information indicating the calculated value of the second lateral state quantity as an index indicating the degree of balance (or the degree of unbalance) between the left hand load and the right hand load is omitted. Alternatively, alarm information (second lateral state amount deviation alarm information) may be output to the user P when the calculated value of the second lateral state amount deviates from the proper range.

In addition, instead of displaying notification information indicating the calculated value of the second state quantity and notification information indicating the appropriate range of the second state quantity on the display 61, detected values of left and right hand loads (vertical hand loads) and notification information indicating the appropriate range of the hand load may be displayed on the display 61 .
In addition, as for the notification information indicating the calculated value of the second state quantity (or the detected value of the hand load in the vertical direction) and the notification information indicating the calculated value of the fourth state quantity, only the notification information for the dominant hand side of the user P is used. You may make it display on the display 61. FIG.
Further, depending on the degree of progress of the walking training in the third phase, etc., displaying the notification information of either the second state quantity or the fourth state quantity on the display 61 may be omitted.

In the present embodiment, the information processing device 6 outputs notification information for each phase on the display 61 of the main body processing unit 60 or by producing a sound during walking training in each of the first to third phases, as described above. The processing to output via the device 62 is executed in real time.

In the present embodiment, the main body processing unit 60 of the information processing device 6 is further configured so that the staff or the user P can It has a function of generating a required evaluation index relating to the walking motion of the user P according to the operation of the 60 and causing the display 61 to display notification information indicating the evaluation index.

Specifically, for example, the main processing unit 60 calculates the state quantities (the first to fourth state quantities and the first to the state quantity corresponding to each phase among the fourth left and right state quantity) are stored and collected sequentially (at predetermined time intervals) together with the time information, and the walking from the straight movement determination unit 65d of the auxiliary processing unit 65 Information indicating the determination result as to whether or not the vehicle 1 is in a straight-ahead state is sequentially obtained together with the time information.

When the staff or the user P performs a predetermined operation of the main body processing unit 60 after each walking training is completed, the main body processing unit 60 generates a state quantity designated by the operation (hereinafter referred to as an evaluation target state quantity). is generated and displayed on the display device 61 .

In this case, the main processing unit 60 determines, for example, the average value of the state quantity to be evaluated during each walking exercise, the standard deviation (or variance) representing the degree of variation in the state quantity to be evaluated, and the state quantity to be evaluated within the appropriate range. Deviating time ratio, which is the time ratio of the deviation period to the total walking period (the period from the start to the end of the walking motion in walking training), is generated as an evaluation index, and the evaluation index is displayed on the display 61. . In addition, the main processing unit 60 causes the display 61 to display a time-series graph of the evaluation target state quantity during each walking training.

Here, in a situation where the user P changes direction together with the walker 1 during walking training, the evaluation target state quantity is temporarily (transient) ) is subject to fluctuations. For this reason, in the present embodiment, the main processing unit 60 determines whether the state to be evaluated in the period in which the determination result acquired from the straight travel determination unit 65d of the auxiliary processing unit 65 indicates that the walker 1 is in the straight travel state. Only the value of the quantity is used to calculate the average value, standard deviation, and deviation time ratio of the state quantity to be evaluated.

Note that the average value, standard deviation, and deviation time ratio of the state quantities to be evaluated are the determination results obtained from the straight travel determining unit 65d of the auxiliary processing unit 65 indicating that the walker 1 is in the straight travel state. During the period, out of the detected value of the elbow load measured by the elbow load measuring unit 65b and the detected value of the hand load measured by the hand load measuring unit 65c, the calculated value is calculated based on the detected value related to the state quantity to be evaluated. may

Further, in the present embodiment, the main processing unit 60, for example, during walking training, collects the detection value of the angular velocity (yaw rate) detected through the angular velocity sensor 13 through the auxiliary processing unit 65, The straightness of the walking motion of the user P is also determined based on the collected data of the detected values of . In this case, the main processing unit 60, for example, from the angular velocity detection values collected during walking training, calculates a standard deviation (or variance) indicating the degree of variation in the angular velocity, and the standard deviation (or variance) is a predetermined Whether or not it is lower than the threshold determines whether the walking motion of the user P is straight. Then, the determination result is displayed on the display 61 as one evaluation index.

FIG. 5 illustrates evaluation indexes and graphs displayed on the display 61 by such processing. In this example, a time series graph of the left and right third state quantities (vertical elbow load/vertical hand load) calculated in the second phase walking training is displayed, and the left and right third states The average value and standard deviation of the amount, the deviation time ratio of both left and right third state quantities, the left/right ratio as the third left and right state quantity, and the straightness determination result are displayed. In the example shown in FIG. 5, for the average value, standard deviation, deviation time ratio, and straightness determination result of the third state quantity, the previous values obtained in the previous walking training are displayed in parentheses. be done. Also, in the time-series graph of the third state quantity, the period during which the vehicle is determined to be in a straight running state is displayed as a region of a predetermined color (gray in FIG. 5).
The display form of the evaluation index for the third state quantity as described above can be similarly adopted for the display form of the evaluation index for the first state quantity, the second state quantity, or the fourth state quantity.

In addition, the main processing unit 60 can also create notification information indicating the transition of the evaluation index for long-term walking training in accordance with the operation of the staff or the user P, and cause the display 61 to display the notification information. . For example, the main processing unit 60 calculates the transition of the monthly average value (or the best value) of the designated evaluation target state quantity among the first to fourth state quantities or the first to fourth left and right state quantities. It is possible to generate the graph shown by the notification information generation unit 60a and display the graph on the display 61 by the notification information output unit 60b.

FIG. 6 exemplifies a graph displayed on the display 61 as described above (a graph showing changes in the evaluation index for walking training). In this example, a bar graph shows transitions in monthly average values (or best values) of the left and right first state quantities (elbow load/body weight). The main body processing unit 60 can similarly generate graphs for other state quantities and cause the display 61 to display the graphs.

Alternatively, the main processing unit 60, for example, changes the transition of the best value of the specified evaluation target state quantity in each of the most recent predetermined number of walking trainings (for example, 10 times) according to the operation of the user P or the staff. It is also possible to generate the graph shown by the notification information generation unit 60a and display the bar graph on the display 61 by the notification information output unit 60b. In this case, the graph can be displayed on the display 61 in the same form as the graph shown in FIG. 6, for example.

In this way, by creating a graph representing the transition of the evaluation target state quantity over a long-term span and displaying it on the display 61, the staff can see the progress of the walking training of the user P and the recovery of the walking function. It is possible to properly judge the degree. For example, in the second phase of walking training, the left and right third state quantities (upper and lower elbow load / vertical hand load) and the left and right second state quantities (upper and lower hand load / body weight) From the transition, it can be properly determined whether or not the walking function of the user P has recovered to the state where the walking motion can be performed using the silver car without using the rollator 1 .

Also, for example, the fourth state quantity (forward hand load/vertical hand load) in the third phase walking training and the left and right second state quantities (vertical hand load/body weight) From the transition, it can be properly determined whether or not the walking function of the user P has recovered to the state where the walking motion can be performed using the cane without using the silver car.

In addition, in the present embodiment, the main processing unit 60 controls the auxiliary processing unit 65 in a situation where the motion measuring device 80 carried or worn by the user P can communicate with the auxiliary processing unit 65 during walking training in each phase. Measured values of the moving speed and moving distance of the walker 1 are sequentially acquired from the movement measuring unit 65a of the processing unit 65 together with time information and stored, and the measured value of the number of steps of the user P is obtained from the movement measuring device 80 at the time. It is sequentially acquired and stored together with the information.

In this case, the measured values of the moving speed and the moving distance of the walker 1 can be considered to substantially match the moving speed (walking speed) and the moving distance (walking distance) of the user P, respectively. Then, the main processing unit 60 further divides the measured value of the moving distance of the walker 1 (walking distance of the user P) by the measured value of the number of steps to calculate the stride length of the user P. Run.

The main processing unit 60 generates a time-series graph showing changes in the walking speed (moving speed of the walker 1), walking distance (moving distance of the walker 1), the number of steps, and the stride length obtained as described above. Also, notification information such as the average value of the stride length and walking speed can be displayed on the display 61 according to the operation of the staff or the user P. FIG.

7 and 8 exemplify notification information displayed on the display 61 as described above. In the example shown in FIG. 7, a time-series graph showing changes in the walking speed of the user P during walking training and an average value of the walking speed are displayed on the display 61 as notification information. In this example, the average value (previous value) of the walking speed during the previous walking training is also displayed in parentheses. Further, the period during which the straight running state is determined by the straight running determination section 65d is displayed as a region of a predetermined color (gray color in FIG. 7). Although not shown, the standard deviation (or variance) indicating the degree of variation in walking speed may be displayed on the display 61 as notification information.

In the example shown in FIG. 8, the display 61 displays, as notification information, a time-series graph showing changes in the number of steps and the length of stride during walking training, the total number of steps, and the average value of the length of stride. In this example, the total number of steps (previous value) and average stride length (previous value) during the previous walking training are also displayed in parentheses. Also, the period during which the straight running state is determined by the straight running determination section 65d is displayed as a region of a predetermined color (gray color in FIG. 8). Although not shown, the standard deviation (or variance) indicating the degree of variation in stride length may be displayed on the display 61 as notification information.

In this way, the notification information regarding the walking speed, the number of steps, and the stride length of the user P during walking training can be displayed on the display 61 as appropriate. It is possible to judge the progress of P's walking training and the recovery of walking function.

Furthermore, in a situation where the exercise measuring device 80 possessed by the user P can communicate with the auxiliary processing unit 65, the main processing unit 60 sequentially obtains the acceleration measurement values of the user P via the auxiliary processing unit 65. can also be obtained. Then, the main body processing unit 60 can display a time-series graph or the like showing the transition of the measured value of the acceleration on the display device 61 according to the operation of the staff or the user P.

In this case, the staff can confirm the notification information related to the measured value of acceleration via the display 61, so that the characteristics of the gait of the user P, suitability, etc. can be determined from the change pattern of the measured value of acceleration. can also be analyzed.

It should be noted that the present invention is not limited to the embodiments described above, and other embodiments can be employed. Several other embodiments are described below. In the above embodiment, the entire information processing device 6 is mounted on the walker 1 , but part of the processing of the information processing device 6 may be executed by a server or the like outside the walker 1 . For example, the process of creating and outputting an evaluation index after walking training may be performed by a server outside the walker 1, a personal computer, or the like. In this case, the indicator for displaying the evaluation index may be a separate indicator from the indicator 61 of the main processing unit 60 .

Further, in the present embodiment, the information processing device 6 is composed of the main processing unit 60 and the auxiliary processing unit 65, but the auxiliary processing unit 65 may be incorporated in the main processing unit 60, for example. Also, a part of the functions of one of the auxiliary processing section 65 and the main processing section 60 may be provided in the other processing section.

Further, in the above-described embodiment, during the walking motion of the user P in the walking training of each of the first to third phases, the display for each phase is displayed regardless of whether the user P is in a straight-ahead state. Although the target notification information is displayed on the display 61, for example, only the display target notification information is displayed on the display 61 in a situation where the user P is determined to be in a straight-ahead state by the straight travel determination unit 65d. may In a situation where it is determined that the user P is not traveling straight ahead, for example, notification information to that effect may be displayed on the display 61, or output from the sound generator 62 by voice or the like.

Further, in the walker 1 of the above embodiment, the second grips 5L, 5R are provided separately from the first grips 4L, 4R. may

DESCRIPTION OF SYMBOLS 1... Walker for rehabilitation, 2... Frame, 3L, 3R... Elbow rest, 4L, 4R... First grip (grip), 6... Information processing device, 61... Display, 11L, 11R... Elbow load sensor (first 1 load sensor), 12L, 12R... Hand load sensor (second load sensor), 80... Exercise measuring equipment.

Claims (12)

A frame movable on the floor, a pair of elbow rests placed on the upper part of the frame and mounted on the frame so that the left and right elbows of the user can be placed respectively, and a pair of elbow rests in front of the elbow rests. a pair of grips arranged and mounted on the frame so that the user can hold them with left and right hands, respectively, in a state in which the user puts his or her elbows on the elbow rests, or the use A state in which the user holds the grip with each hand, or a state in which the user puts each elbow on the elbow rest and holds the grip with each hand, accompanies the user's walking motion , a rehabilitation walker configured to move with the user,
a first load sensor that detects an elbow load, which is a load acting from the elbow on each of the elbow rests on which the elbows of the user are placed;
a second load sensor for detecting a hand load, which is a load acting on each of the grips held by the user's hands from the hands;
and an information processing device that outputs notification information regarding detected values of the elbow load and the hand load. The rehabilitation walker according to claim 1,
The elbow load detected by the first load sensor includes at least a vertical load, and the hand load detected by the second load sensor includes at least a vertical load or a forward load of the user. A walker for rehabilitation, comprising: In the walker for rehabilitation according to claim 1 or 2,
The information processing device includes a display that can be visually recognized by the user while the user is walking, and displays the display target notification information, which is the predetermined type of notification information, during the user's walking movement. A walker for rehabilitation, characterized in that it is configured to have a function of displaying on the display while updating it sequentially. In the walker for rehabilitation according to claim 3,
The display object notification information to be displayed on the display includes a first state quantity that is a ratio between the detected value of the elbow load in the vertical direction on each of the left and right sides of the user and the body weight of the user; A first left-right state quantity that is the ratio, difference, or absolute difference between the first state quantity on the left side of the user and the first state quantity on the right side of the user, and the top and bottom on each of the left and right sides of the user A second state quantity that is the ratio of the detected value of the hand load in the direction to the body weight of the user, and the second state quantity on the left side of the user and the second state quantity on the right side of the user. A second left-right state quantity, which is a ratio, a difference, or an absolute difference; 3 state quantities, a third left-right state quantity that is the ratio, difference or absolute difference between the third state quantity on the left side of the user and the third state quantity on the right side of the user, and the left and right of the user A fourth state quantity that is a ratio of the detected value of the hand load in the front direction of the user and the detected value of the hand load in the vertical direction on each side of the user, and the fourth state on the left side of the user Information indicating any state quantity of the fourth left-right state quantity that is the ratio or difference or absolute difference between the quantity and the fourth state quantity on the right side of the user, or the state quantity and the state quantity A walker for rehabilitation characterized by including at least information indicating a comparison with an appropriate range. In the walker for rehabilitation according to claim 3 or 4,
The information processing device has a function of determining whether the degree of left-right balance of the user is appropriate with respect to the display target notification information to be displayed on the display device, and displays the display target notification information on the display device. In addition, the rehabilitation walker further has a function of sequentially outputting notification information indicating the result of the determination to the user. In the walker for rehabilitation according to claim 5,
The information processing apparatus determines the appropriateness of the degree of balance, and the display object notification information includes the detection values of the elbow load in the vertical direction on each of the left and right sides of the user and the weight of the user. and a first left-right state quantity that is the ratio, difference, or absolute difference between the first state quantity on the left side of the user and the first state quantity on the right side of the user, A second state quantity that is a ratio of the detected value of the hand load in the vertical direction on each of the left and right sides of the user and the body weight of the user, the second state quantity on the left side of the user, and the use A walker for rehabilitation, characterized in that it includes at least a second left-right state quantity that is a ratio or a difference from the second state quantity or an absolute difference from the second state quantity on the right side of the person. In the rehabilitation walker according to any one of claims 1 to 6,
The information processing device further has a function of calculating a predetermined type of evaluation index relating to the user's walking motion from the collected data of the detected values of the elbow load and the hand load, and the information output by the information processing device A walker for rehabilitation, wherein the information includes the predetermined type of evaluation index. In the walker for rehabilitation according to claim 7,
The predetermined type of evaluation index includes a first state quantity that is a ratio of the detected value of the elbow load in the vertical direction on each of the left and right sides of the user to the body weight of the user; A first left-right state quantity that is the ratio, difference, or absolute difference between the first state quantity and the first state quantity on the right side of the user, and the vertical hand load on each of the left and right sides of the user A second state quantity that is the ratio of the detected value of and the weight of the user, and the ratio or difference or absolute between the second state quantity on the left side of the user and the second state quantity on the right side of the user a second left-right state quantity that is a difference, and a third state quantity that is a ratio of the detected value of the elbow load in the vertical direction and the detected value of the hand load in the vertical direction on each of the left and right sides of the user; A third left-right state quantity that is the ratio, difference, or absolute difference between the third state quantity on the left side of the user and the third state quantity on the right side of the user, and A fourth state quantity that is a ratio of the detected value of the hand load in the front direction of the user and the detected value of the hand load in the vertical direction, and the fourth state quantity and the user on the left side of the user Information indicating the average value of the evaluation target state quantity, which is either the ratio or difference with the fourth left-right state quantity, or the fourth left-right state quantity that is the absolute difference, on the right side of the evaluation target state quantity and information indicating the deviation time ratio, which is the ratio of the time period during which the evaluation target state quantity deviates from the appropriate range to the entire walking period. Walker for rehabilitation. In the rehabilitation walker according to any one of claims 1 to 8,
The information processing device further has a function of determining whether the rehabilitation walker is in a straight state, and the elbow load and the elbow load in a situation where the rehabilitation walker is determined to be in a straight state. The notification information to be output is generated based on a detected value of at least one of the hand load or a value calculated from the detected value of at least one of the elbow load and the hand load in the relevant situation. A walker for rehabilitation characterized by: In the rehabilitation walker according to any one of claims 1 to 9,
The rehabilitation rollator, wherein the information processing device further comprises a function of determining whether the walking motion of the user is straight or not, and outputting notification information indicating the result of the determination. In the rehabilitation walker according to any one of claims 1 to 10,
The information processing device has a function of acquiring measurement data of at least one of the user's step count and movement acceleration through communication with a motion measuring device capable of measuring at least one of the user's step count and movement acceleration; and a function of outputting notification information generated using the measurement data. A frame movable on the floor surface, a pair of elbow rests placed on the upper part of the frame and mounted on the frame so that the user can rest his/her left and right elbows, and the front of the elbow rests. and a pair of grips mounted on the frame so that the user can hold each with left and right hands, and the user puts each elbow on the elbow rest, or the When the user holds the grip with each hand, or when the user puts each elbow on the elbow rest and holds the grip with each hand, the walking motion of the user , a gait training system using a rehabilitation walker configured to move with the user,
a first load sensor mounted on the rehabilitation walker so as to detect an elbow load acting from the elbow on each of the elbow rests on which the elbows of the user are placed;
a second load sensor mounted on the walker for rehabilitation so as to detect a hand load acting on each of the grips held by each hand of the user;
A walking training system, comprising: an information processing device that outputs notification information regarding detected values of the elbow load and the hand load.

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