JP3393690B2 - Walking training machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training machine, and more particularly, to a walking training machine that allows a person to experience simulated outdoor walking in a small space.

[0002]

2. Description of the Related Art In recent years, the number of people whose leg strength has significantly decreased due to an increase in the number of elderly people and changes in society is increasing. Moreover, an increasing number of people have impaired walking function due to illness or accident. Gait training is a major method of rehabilitation for these people.

The main walking training technique that has been used in the past has been to provide the trainee with a handrail along the walkway. The trainee walks by self-help while being held by a fixed handrail. In the case of mild leg strength, movable handrails with casters may be used.

[0004] Recently, as a more advanced assisting tool, a walking training machine has been disclosed which lifts a trainee upward to reduce gravity so as to facilitate walking and to keep the reduced weight constant during walking. (For example, the actual Kaihei 2-4262
No. 5).

[0005]

In the walking rehabilitation using the above-mentioned training device using a handrail, a trainee and his / her assistant are burdened with a great labor. Further, in the gravity reduction type walking training machine, even if the problem of labor burden is solved, the installation volume is increased to secure a walking path of a predetermined length, and walking training is performed as in the case of a training device using a handrail. There is a problem that it is monotonous.

[0006] The monotonous and painful training is not easy for the trainee whose function is deteriorated to continue, so that the training effect is not sufficiently exhibited.

Further, the applicant of the present application has filed a patent application related to walking training (Japanese Patent Application Nos. 4-141312 and 5-5).
-8479). Japanese Patent Application No. 4-141312 is used for assisting a pedestrian such as an elderly person and a person with a walking disability, and a moving body that assists the walking of the pedestrian and a moving body provided in the moving body to reduce the weight of the pedestrian. A support unit that supports the detector, a detector that detects a force in a walking direction of the pedestrian, and a control unit that controls the movement of the moving body by comparing a detection value from the detection with a target value thereof. A characteristic walking assistance device is provided.

[0008] Further, Japanese Patent Application No. 5-8479 discloses an annular belt that forms a walking surface on which a disabled person walks in a walking training machine used by a disabled person with gait dysfunction to recover function.
The driving means for driving the belt, the belt speed detecting means for detecting the speed of the belt, and the detection value detected by the belt speed detecting means when the disabled person kicks the belt backward to walk. A walking surface device provided with speed control means for controlling the driving means, a pedestal provided with the walking surface device, and a driving means for changing the walking surface device to each posture of horizontal or front-rear, left-right direction inclination; A support device that is mounted on a surface device and that holds a body of a disabled person when the disabled person rides on the belt; and an assisting device that includes a driving means that moves the gripping means in up, down, front, back, left, and right directions. A walking training machine characterized by the above.

Furthermore, Japanese Patent Application No. 5-8479 is provided with a video display device which gives visual information of a virtual walking environment when a person with a disability walks on the walking surface.

Japanese Patent Application No. 5-8479 discloses a walking training machine used by a person with impaired walking function to recover the function, and an annular belt forming a walking surface on which the person with a disability walks and a drive for driving the belt. Means, and a walking surface device provided with a belt speed detecting means for detecting the speed of the belt, and a driving means for mounting the walking surface device and changing the walking surface device into each posture of horizontal or front-back, left-right inclination A pedestal, a gripping means for gripping the body of the disabled person when the disabled person rides on the belt mounted on the walking surface device, a driving means for moving the gripping means in the up, down, front, back, left, and right directions, and an obstacle. An assisting device provided with a shake detecting means for detecting a shake of a person's body,
Types of impairment of walking function, walking ability and various walking training menus corresponding to them, assistance procedures for persons with disabilities, and physical characteristics of persons with disabilities, types of impairment of walking function, walking ability,
A database that stores personal data such as training records, an expert system that selects a walking training menu based on the personal data from various walking training menus in the database, an input / output unit that accesses the database, and the expert system. According to the selected walking training menu, the pedestal drive means is controlled to determine the posture of the walking surface device, and when the disabled person kicks the belt backward and walks, based on the detection value of the belt speed detection means. Overall control device for controlling the driving means of the walking surface device and for controlling the driving means of the gripping means by using the assistance procedure obtained through the expert system in correspondence with the detection value of the shake detection means of the assistance apparatus Provided is a walking training machine characterized by comprising:

It is an object of the present invention to provide a compact walking training machine which does not impose such a related application, has a small burden on trainees and caregivers, and is easy to continue walking training.

[0012]

According to the present invention, there are provided two parallel walking surfaces that move independently for the left and right feet of the trainee, which form a sidewalk of the trainee, and the left and right walking surfaces, respectively. A viscous drag is applied to the foot of the trainee who is walking based on the drive device that is independently driven, the speed detection means for the left and right walking surfaces, and the speeds of the left and right walking surfaces detected by the speed detection means. As described above, a control means for independently controlling the drive device for the left and right walking surfaces, a walking surface device fixed to the floor surface, a gripping means for supporting the trainee's body on the walking surface, The driving means for changing the posture of the gripping means in a plane formed by the trainee's walking direction and the vertical direction (hereinafter referred to as sagittal plane, the same), and the stress applied by the trainee to the gripping means. An assisting device having a stress measuring means for measuring, the walking surface device and the assisting device A general control unit for controlling, discloses a walking training machine having a.

Further, according to the present invention, the speed control means has a target speed input means and a speed gain varying means, and the viscous resistance is given by changing the target speed and / or the speed gain. A walking training machine is disclosed.

Further, the present invention discloses a walking training machine in which the integrated control device has a function of controlling the position of the grip portion of the grip means in the sagittal plane.

In the walking training machine of the present invention, when the speed or integrated distance of the circular belt on which the trainee walks exceeds the threshold value, the image display device is driven to display a moving image or a still image of the outdoor scenery. It can be displayed in front of the trainee.

[0016]

[Function] The walking surface device saves space and enables effective walking training that matches the function of the trainee. The image display device works in conjunction with the walking surface device to produce a natural outdoor walk and maintain training. It shows the action. Further, the assisting device supports the trainee who is walking and assists the muscle strength and the sense of stability to reduce the burden and recover the function. Each of these devices is functionally integrated by the integrated control device,
Controlled.

[0017]

EXAMPLES The present invention will be described in more detail based on the following examples. FIG. 1 is a sketch showing the overall configuration of the walking training machine 1. As shown in the figure, the walking training machine 1 includes a walking surface device 2, an image display device 3, an assistance device 4, and an overall control device 5 that organically controls these devices. The walking surface device 2 is fixed to the floor surface or the ground. The assistance device 4 includes a base portion 4B whose bottom is fixed to the walking surface device 2, a movable link mechanism 4A, a rotation mechanism portion 4C, and a support portion 21 which detachably supports the grip portion 22. The integrated control device 5 includes a CRT 50, a computer 51, and a keyboard (including a mouse) 52. The walking surface device 2 has a walking surface 8,
This walking surface 8 is a walking surface 8A for the left foot that moves independently of each other,
It has a walking surface 8B for the right foot. This walking surface is composed of an annular belt. The trainee U stands on a training sidewalk consisting of two annular belts 8 (8A for the left foot and 8B for the right foot) of the walking surface device 2 and starts walking. At this time, the upper body of U is gripped by the assistance device 4 installed on the walking surface device 2, and the posture is corrected and the load is reduced. An image display device 3 with a screen is provided in front of U in the walking direction, and an outdoor landscape image stored in a memory such as a database is read and projected on the screen as the user walks. The integrated control device 5 is electrically connected to each of these devices by a cable. Usually, a caregiver S (not shown) is involved in U walking training.

The configuration and operation of each device will be described below. FIG. 2 is a diagram showing a configuration of the walking surface device. As illustrated, the walking surface device 2 includes two annular belts 8 (8A for the left foot and 8A for the right foot) corresponding to the left and right feet of the trainee.
B) and the left foot belt speed detecting means 10A, the right foot belt speed detecting means 10B, and the left foot belt distance detecting means 11A, the right foot belt distance detecting means 11B for detecting the moving distance of the annular belt. Left and right foot walking devices 6 and 7 including the above are fixedly installed. Further, driving means 9A, 9B for driving the left and right annular belts 8A, 8B are provided.

The driving means 9A and 9B are trained by the trainee U based on the speeds detected by the belt speed detecting means 10A and 10B when the trainee U walks while kicking the annular belts 8A and 8B backward. The driving speed is calculated so as to give an appropriate viscous resistance to both feet, and is controlled by the belt control means 5a which gives the driving speed to the annular belts 8A and 8B. The walking surface device 2 is fixed to the floor surface and does not move even if the body of the trainee U sways back and forth. The belt control means 5a comprises a CRT 56, a computer 57 and a keyboard 58.

The left and right annular belts 8A and 8B may be in contact with each other. The belt control means 5a for the left and right annular belts 8A and 8B has the same system configuration for both feet.
The block diagram is shown in FIG. The difference between the speed information detected by the belt speed detection means 10A (or 10B) and the speed target preset in the belt control means 5a is
The driving means 9 uses the result of multiplying the speed gain as a command value.
Output to A (or 9B). The speed target and the speed gain set in the belt control means 5a are changed by an instruction from the overall control device 5.

At the start of walking training, the speed target is zero. Therefore, when the trainee U kicks the annular belts 8A and 8B backward with his / her feet, the annular belts 8A and 8B move backward and give an appropriate viscous resistance force determined by the velocity gain to the feet of the trainee U. . When the annular belts 8A and 8B start moving, the integrated control device 5 instructs the belt control unit 5a to set an appropriate speed target while detecting the speed thereof.

FIG. 4 is a diagram showing a configuration example of the video display device 3. The image display device 3 updates the outdoor image displayed based on a command from the trainee U, the display device 12 that projects an outdoor image forward, and the integrated control device 5.
b and. This processing unit 5b is a CRT 53, a computer 5
4 and a keyboard (including a mouse) 55. The outdoor image projected on the screen of the display unit 12 is updated when the walking speed or walking distance of the trainee U detected by the walking surface apparatus 2 exceeds a certain threshold.

FIG. 5A is a side view showing an example of the configuration of the assistance device 4 whose sketch of the main configuration is shown in FIG. Figure 5
(B) is a sectional view taken along line XX ′. Base 4B of assistance device 4
Is fixedly installed on the front upper surface of the annular belt 8 of the walking surface apparatus 2. The base portion 4B functions as a fixed support portion of the assistance device 4. Knee pads 23 (23A for the left foot and 23B for the right foot, see FIG. 12) for both feet of the trainee U are attached to the front side surface of the base portion 4B. The knee pad 23 is arbitrarily used depending on the degree of obstacle of the trainee, is elastic, and elastically supports (has a function of) the knee of the trainee. Note that FIG. 1 shows a case where the knee pad 23 is not used.

A rotating mechanism 4C is provided above the base 4B. The rotation mechanism 4C is a mechanism that moves the link mechanism 4A. The rotation mechanism 4C is a mechanism housed in the outer case 15, and as shown in FIG. 5B, with reference to a plane formed by the walking direction of the trainee and the vertical direction (hereinafter referred to as a sagittal plane). The structure is symmetrical. Here, the right side is shown in FIG.
The front side and the left side of the plane of (a) indicate the back side of the plane of FIG. 5 (a). As shown in FIG. 5B, the rotating mechanism 4C includes a right rotating shaft 14C and a left rotating shaft 1 that rotate independently of each other.
4D and. A rotary drive shaft 14A is provided at the right end of the right rotary shaft 14C, and a rotary drive shaft 14B is provided at the left end of the left rotary shaft 14D. This rotary drive shaft 14A,
14B is rotated by the rotation instruction units 16A and 16B. The right rotation shaft 14C and the left rotation shaft 14D respectively include a vertical drive link 17A and a horizontal drive link 17 of the link mechanism 4A.
As shown in FIG.
The vertical drive link 17A moves up and down as shown by the arrow in (a), and the horizontal drive link 17B moves laterally as shown by the arrow in FIG. 5 (a) as the left rotary shaft 14D rotates. Rotary drive shaft 14A,
Reference numeral 14B is, for example, a pulley, and is an indicator 16A, 16B.
(For example, a clutch mechanism. In the case of a clutch mechanism, the pulley is driven via a belt). This rotatable angle is a limited angle range in which the links 17A and 17B are moved as shown by arrows.

The link mechanism 4A is made of a metallic material and comprises a vertical drive link 17A, a horizontal drive link 17B, a short driven link 18, and a long driven link 19. Each link 17
A, 17B, 18, and 19 are similar in shape and structure, and each have a substantially parallelepiped shape. As a typical example, FIG. 6 shows an example of the link 19. The link 19 has two arms 19a and 19b each having a "V" shape facing each other, and the short portions thereof are fixed by members 19d and 19e. Further, the intermediate position between the arms 19a and 19b is welded and connected by a member 19a. The same applies to the other links 17A, 17B, and 18.

The end of the link 17A on the side opposite to the rotary shaft 14C side and the one end of the link 18 are rotatable nodes 20A.
And the other end of the link 18 and one end of the link 19 are connected by a rotatable node 20B. Further, the central portion of the member 19a of the link 19 is connected to the end of the link 17B on the side opposite to the rotary shaft 14D side via a rotatable node 20C. At the other end of the link 19,
The support portion 21 that supports the attachment of the grip portion 22 is attached. The support portion 21 has a stress sensor 21A. The grip portion 22 is an attachment type, has various types, and is freely attached to the support portion 21 for use. Gripping part 22
Is a type that inserts a hand and moves it as shown in Fig. 1,
Since it has a handle type (FIG. 12) and various sizes depending on the size, etc., it has a detachable structure. Here, in FIG. 12, the handle 22 ′ is attached to the support portion 21. This handle 2
The trainee U directly holds 2'with his / her hand to perform gait training.

With the above configuration, the rotary shaft 1
By rotating 4C, the link 17A moves up and down according to the rotation angle, and the link 18 moves up and down in conjunction with this movement. Further, by rotating the rotary shaft 14D, the link 1
7B laterally moves according to the rotation angle, and as a result, the link 19 follows the movements of the link 17B and the link 18. Here, by rotating the rotating shafts 14C and 14D so as to be a reaction force of the force (external force) applied to the gripper 22 of the trainee U, the gripper 22 causes a reaction force balanced with the force applied by U at that time. Receive.

The attachment 21 includes a stress sensor 21.
A is attached. The stress sensor 21A is X,
It has a function of measuring the stress in the Y and Z axis directions and the moment around each axis, and measures the force acting between the trainee U and the assistance device 4 via the grip portion 22.

In FIGS. 1, 5 and 12 and FIGS. 7 and 8 described below, only the trainee U is shown and the caregiver S is not shown for simplicity, but S is required. According to the above, U walking training shall be assisted from the side or the back.

The structure of the grip 22 of FIGS. 1 and 6 for lifting the shoulder is shown in FIG. The grip 22 includes a shoulder holding element 24 for supporting the shoulder of the trainee U, and an adjusting mechanism 25 for adjusting the position of the shoulder holding element 24 to the height and shoulder width of the trainee U. Since the operation area of the grip 22 is in a plane formed by the walking direction of the trainee U and the vertical direction, that is, in a sagittal plane, the assistance device 4 passes the gripper 22 to the trainee U.
Exert a force on the sagittal plane.

FIG. 8 shows another structural example of the grip portion 22.
In this example, a handrail 26 is provided on the upper side near the tip of the long driven link 19. The grip 22 has a structure in which the body of the trainee U is supported by the shoulder so as not to fall backward, and the trainee U holds the handrail 26 and performs walking training. Although the gripping method has been described above, it is not limited to the embodiment. For example, depending on the situation of the trainee U, only the waist may be gripped, or the shoulder and the waist may be gripped simultaneously.

The operation of the assistance device 4 described with reference to FIG. 5 will be described with reference to FIG.

FIG. 10A shows the initial posture. The tip of the long follower link 19 (tip on the trainee side) is 35. Under the condition that only the vertical drive link 17B fixed to the rotary shaft 14D is rotated by the action of the left rotary drive shaft 14B and the horizontal drive link 17A does not move, as shown in FIG. Only the sliding movement in the direction is shown. In the figure, the tip portion 35 is shown to move toward the trainee (not shown), but of course it slides in the opposite direction.

On the other hand, only the lateral drive link 17A is rotated by the action of the right rotary drive shaft 14A, and the vertical drive link 17A is rotated.
In the state where B does not move, the long driven link tip portion 35 moves in the vertical direction as shown in FIG. Therefore 3
The stress sensor 21A and the gripping portion 22 (neither shown) adjacent to 5 are also vertically shifted.

However, as shown in FIG. 10D, when the vertical drive link 17B and the horizontal drive link 17A are moved at the same time, the long follower link tip portion 3 in a considerably wide range within the sagittal plane.
5, therefore the gripping part 22 can be moved.

The rotation mechanism 4A is provided with left and right angle sensors, left and right angular velocity sensors, and left and right torque sensors (not shown). Then, the rotation mechanism 4C is controlled so that the deviation between the information from each sensor and the command value from the overall control unit 5 is converged to zero, and as a result, the tip portion 35 follows the movement. The mounting portion of each sensor (angle sensor, angular velocity sensor, torque sensor) of the rotation mechanism 4C is the rotation shaft 14C,
14D and the rotary drive shafts 14A and 14B may be used.

FIG. 11 shows a specific example of the torque control process in a feedback / feedforward combination system using the responses of the angular velocity sensor and the torque sensor.

First, the force of the walking trainee U applied to the long driven link tip portion 35 is detected by the stress sensor 21A, and the detected value is multiplied by an appropriate ratio to obtain a target value. next,
Based on this target value, the target torque values for the left and right rotary drive shafts 14A and 14B of the rotating mechanism 4C are calculated. The target torque value is obtained by multiplying the force target value at the tip by a transposition T _f (conversion matrix) of the Jacobian matrix obtained from the angles of the rotary drive shafts 14A and 14B and the length of each link. The component 101 in the figure is a transformation matrix multiplier. Component 1
The torque target values of 14A and 14B obtained in 01 are sent to the component 102 composed of a subtractor and the component 104 composed of an adder. The flow toward the component 104 is feedforward control.

The component 102 obtains the deviation between the target torque value and the response of the torque sensor 29 (the torque sensors 29A and 29B on the left and right) and sends it to the component 103.
The component 103 is a torque feedback gain multiplier, and has a preset torque feedback gain K _t.
Is sent to the constituent element 104. The components 102 and 103 constitute a feedback control system. The constituent element 104 obtains the sum of the torque target values of the 14A and 14B and the manipulated variable of the constituent element 103, and sends the result to the constituent element 106.

Component 105 is a velocity gain multiplier. Angular velocity sensor 28 (left and right angular velocity sensors 28A, 2
8B) is multiplied by a preset velocity feedback gain K _v , and the result is sent to the component 106 as a manipulated variable.

The constituent element 106 is a subtractor, and sends the difference between the manipulated variables sent from the constituent elements 104 and 105 to the instruction units 16A and 16B as the final manipulated variable. The rotation drive shafts 14A and 14B are rotationally controlled, and as a result, a reaction force that balances the target value of the force when the tip portion 35 is operated is applied.

FIG. 9 is a block diagram showing the operation of the integrated control device 5. In FIG. 1, the integrated control device 5 is a CRT 5
0, the computer 51, and the keyboard 52 are taken as an example, but this is a system configuration diagram, and FIG. 9 is a block diagram of the main purpose of the function. As shown, the integrated control device 5 is
It comprises a walking environment control element 31, an assisting device control element 32, a database 33, and an input / output means 34. The belt control means 5a and the image processing means 5b described above are the walking environment control elements 3
Controlled by 1. Further, the control element 30 is controlled by the assistance device control means 32.

In the database 33, (1) a combination of data to be output to the walking surface device 2 and the image display device 3 (hereinafter referred to as a training menu), (2) setting data at the time of walking training of the assistance device 4, and (3). Three types of data, that is, the training menu of the trainee U in the past and the setting data of the assistance device are stored.

The input / output means 34 is a man-machine interface and is used for inputting commands of the trainee U or the caregiver S and for displaying the status of the walking training machine.

The walking environment control element 31 gives a command to the belt control means 5a and the image processing means 5b in accordance with the training menu selected by the trainee U or the caregiver S using the input / output means 34. That is, the speed target and the speed gain data are given to the walking surface device 2 via the belt control means 5a. An appropriate viscous resistance is applied to the foot of the trainee U who performs walking training by these speed target values programmed in advance. On the other hand, through the video processing means 5b, when the predetermined threshold value is exceeded, the video display means 3 is instructed to update the outdoor image. As a result, the trainee U can obtain a simulated experience of actually walking outdoors and can carry out effective walking training without getting tired.

The outdoor image display and update by the video display means 3 are preferably performed by either of the following two methods. This method is selected at the beginning of training. (1) The image data is updated when the walking speed detected from the annular belt 8 of the walking surface device 2 exceeds a preset threshold speed. One example of this implementation is a method of starting / stopping the VTR device according to a threshold speed. (2) The moving distance of the annular belt 8 of the walking surface apparatus 2 is integrated, and the still image is updated every time the integrated distance exceeds a certain threshold.

The assisting device control element 32 supervises three types of control: assisting control for controlling the operation of the assisting device 4 during walking training, position control for operating the assisting device 4 before and after walking training, and trajectory control. Each control method will be described below.

The assistance control is a function of controlling the force exerted on the trainee U via the grip portion 22. Since the movable range of the assistance device 4 is within the sagittal plane, the force exerted on the trainee U is the resultant force of the vertical force and the forward (forward / backward) force. The target value of the vertical force is always a constant upward force, and its magnitude is given as a ratio to the weight of the trainee U or as an absolute amount of a proper magnitude. This is set according to the walking ability of the trainee U. It can be said that the smaller the target value of the vertical force is, the more the muscle strength of the trainee U is recovered. There are the following two ways to set the force in the traveling direction. In the first method, a constant backward force is always applied as in the vertical direction, and the magnitude thereof is given as a ratio to the weight of the trainee U or an absolute amount of an appropriate magnitude. The second method is to set the position of the gripping portion 24 when the trainee U is first standing upright as a neutral point, and set a virtual spring constant in the traveling direction so that the trainee always stands upright. It is compliance control that pulls back. The second method is suitable for the training of the trainee U in which the muscle strength around the waist is weak and the upper body (from the waist to the top) is staggered, and it is desirable to change the spring constant according to the muscle strength of the trainee U.

In this way, the force at the tip is set, and the transposition of the Jacobian matrix is multiplied by the force (target value) at the tip 35 to calculate the torque target value for the rotary drive shaft 14 (14A, 14B) and control it. Element 30 provides torque control as in FIG.

The position control is a function of controlling the position or trajectory of the grip portion 22 in the sagittal plane. The posture at the time of starting the walking training, and the trainee U sitting in the wheelchair, grasping part 22
The basic postures / movements such as approaching the robot are stored in the database 33 in advance, and when the position of the tip 35 is set by selecting from the input / output means 34 according to the progress of the training, the rotary drive shaft 14 is set. The rotation angle target value for (14A, 14B) is calculated, and the control element 30 performs position control.

On the other hand, the trajectory control is performed, for example, when the trainee U is pulled up from the wheelchair, and a target angle value is given to the rotary drive shaft 14 to hold the gripping portion 22 on the chest of the trainee U sitting on the wheelchair. Move to. After confirming that the trainee U and the grip 22 are integrated, the caregiver S holds the grip 22 and guides the trainee U along a preset trajectory. At this time, by adjusting the force applied to the grip portion 22, the pulling time can be adjusted according to the situation of the trainee U.

The trajectory control is realized by controlling the assistance element 4 as follows. The force applied by the caregiver S is calculated as a force obtained by removing the weight (vertically downward) of the trainee U from the stress (vector) applied to the tip 35.
The speed obtained by making the force applied by the caregiver S proportional to the component force shaded on the tangent line at the point on the trajectory of the tip 35 is given as the speed target of the tip 35. If this is done at all times, the arrival time to the end point can be set arbitrarily for one trajectory.

When the target value of the speed of the distal end 35 is set in this way, the target value is converted into the target rotational speed value for the rotary drive shaft 14 according to the posture of the assistance element, and the control element 30 controls the speed. The structure, function, and operation of the walking training machine of the present invention have been described above based on the embodiments. The procedure of walking training using the walking training machine of this embodiment will be described by taking the trainee U in a wheelchair as an example. 1) Select the training menu and the assistance method using the input / output unit 34 (driving the database 33). 2) The input / output unit 34 sets the stress applied to the trainee U by the assistance device 4 via the grip 22. 3) The grip 22 is adjusted in advance to the height and shoulder width of the trainee U by the adjusting mechanism 25. 4) Ask the trainee U to move to the pulling point, and move the grip 22 to the pulling point. The assistance device 4 controls the position. 5) The helper S holds the grip portion 22 and guides it to the training position. The assistance device 4 controls the trajectory. 6) The trainee U stands in the training position and performs a preliminary inspection such as the condition of the grip 22. 7) Start training. During the training, the assistance device 4 controls the assistance and drives the image display device 3. 8) The training ends. When the walking training is performed in the above procedure, the trainee U receives a proper viscous resistance (matching the physical condition) and obtains a simulated experience of normally walking outdoors. The device 5, means 5a,
Although each of 5b and 5c has its own hardware configuration, the device 5
It is also possible to include 5a, 5b, and 5c in the function of. Furthermore, although the four links of the link mechanism 4A are each a combination of two "he" shapes, they may be one rod-shaped body.

[0054]

As described above, according to the present invention, the trainee walks outdoors with a normal walking ability due to the combined result of the visual sense and the appropriate load application to the toes in a limited space. You can get a simulated experience and improve the sustainability of training.

By separately controlling each of the two annular belts according to the left and right leg strengths of the trainee, it is possible to cope with the case where the leg strength on one side is lowered. Further, since the walking surface device provided with the annular belt is fixed to the floor surface, it is possible to stabilize the walking posture of the trainee and eliminate psychological anxiety.

[Brief description of drawings]

FIG. 1 is a perspective view showing main components of a walking training machine according to an embodiment.

FIG. 2 is a diagram showing a walking surface device structure of an embodiment.

FIG. 3 is a block diagram illustrating a control example of a walking surface device.

FIG. 4 is a diagram illustrating a configuration example of a video display device according to an embodiment.

FIG. 5 is a diagram showing a configuration example of an assistance device of an embodiment.

FIG. 6 is a diagram showing a configuration example of a long driven link.

FIG. 7 is a diagram illustrating a configuration example of a grip portion of the assistance device.

FIG. 8 is a diagram showing a configuration example of a grip portion of the assistance device.

FIG. 9 is a block diagram showing a configuration example of an overall control means of an embodiment.

FIG. 10 is a diagram for explaining the operation of the link of the assistance device.

FIG. 11 is a block diagram illustrating an example of a torque control process of a long driven link distal end portion of the assistance device.

FIG. 12 is a perspective view showing an example of a handle-type grip portion having another shape of the grip portion of the assistance device.

[Explanation of symbols]

1 walking training machine 2 Walking surface device 3 Video display device 4 assistance devices 4A link mechanism 4B base 4C rotation mechanism 5 Integrated control device 5a Belt control means 5b video processing means 6 Left foot walking device 7 Right foot walking device 8 annular belt 9 Drive means 10 Belt speed detection means 11 Belt distance detecting means 12 Display means 14 (14A, 14B) rotary drive shaft 14C, 14D rotating shaft 16A, 16B instruction section 17A lateral drive link 17B Vertical drive link 18 quadratic driven link 19 Long driven link Sections 20A, 20B, 20C 21 Support 21A stress sensor 22 grip 23 Knee rest 24 Shoulder retention element 25 Adjustment mechanism 26 handrail 30 control elements 31 Walking environment control element 32 Assistance device control element 33 Database 34 Input / output means 35 Long driven link tip U Trainee S helper

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Teru Yoshida 6-26-2 Minamioi, Shinagawa-ku, Tokyo Omori Bellport B Building, Marketing Department, Medical Systems Promotion Division, Hitachi, Ltd. (56) Reference JP-A-57 -131438 (JP, A) JP-A-5-309117 (JP, A) JP-A-62-139677 (JP, A) JP-A-61-65937 (JP, A) Actual Kaihei 1-140972 (JP, U) ) (58) Fields surveyed (Int.Cl. ⁷ , DB name) A61H 1/02 A63B 23/04

Claims (12)

(57) [Claims] 1. Two parallel walking planes that move independently for the left and right feet of the trainee, which form a sidewalk of the trainee, respectively.
A drive device that independently drives the left and right walking surfaces,
Based on the speed detection means of the left and right walking surfaces and the speed of the left and right walking surfaces detected by the speed detection means, the left and right walking surfaces of the left and right walking surfaces are provided so as to give viscous resistance to the foot of the trainee who is walking. A walking surface device fixed to the floor surface, which includes a control means for independently controlling the drive device, a gripping means for supporting the body of the trainee on the walking surface, a walking direction and a vertical direction of the trainee. Drive means for changing the posture of the gripping means in a plane formed by and (hereinafter referred to as a sagittal plane), and stress measuring means for measuring the stress applied to the gripping means by the trainee. A walking training machine comprising: an assisting device, and an overall control device that controls the walking surface device and the assisting device. 2. The walking training according to claim 1, wherein the speed control means includes a target speed input means and a speed gain varying means, and the viscous resistance is given by changing the target speed and / or the speed gain. Machine. 3. The walking training machine according to claim 1, wherein the driving means of the gripping means comprises four link mechanisms that are movably connected to adjacent links. 4. The gripping means has a trainee gripping part,
The walking training machine according to any one of claims 1 to 3, wherein the grip portion has a replaceable structure so that the grip portion can be selected from a plurality of grip means having different shapes and used. 5. The walking training machine according to claim 1, further comprising a handrail which is an auxiliary device attached to a part of the grip means. 6. The walking training machine according to claim 1, further comprising a knee pad attached to the base of the assistance device. 7. The walking training machine according to claim 4, wherein the integrated control device has a function of controlling a position of the grip portion of the grip means within the sagittal plane. 8. The walking training machine according to claim 4, further comprising a function of controlling an operation locus within the sagittal plane of the grip portion of the grip means to the integrated control device. 9. The walking training machine according to claim 4, further comprising a function of controlling a stress applied to a trainee by a grip portion of the grip means, in the integrated control device. 10. The integrated control device is further provided with a function of controlling an operating speed of the gripping portion within the sagittal plane in response to a stress applied to a gripping portion of the gripping means by a trainee. The walking training machine according to any one of claims 4 and 7 to 9. 11. An image display device provided in front of a trainee, wherein the integrated control device displays the image when the speed of the walking surface detected by the speed detecting means exceeds a threshold value. A device having a function of displaying a moving image on the device.
The walking training machine according to any one of 10 to 10. 12. A video display device provided in front of the trainee, wherein the video display device stores a plurality of still images, and switches the still images according to the accumulated travel distance of the walking surface. The walking training machine according to claim 1, which has a function of displaying.