JP3584506B2 - Walking training device and its control method - Google Patents

Description

但し、ｍａ ：歩道手段の等価質量
ｃａ ：歩道手段の等価減衰係数
ｋａ ：歩道手段の等価ばね定数
ｆｆ ：歩行面の駆動機構がもっている抵抗力
ｆｕ ：歩道手段の駆動力
ｘ ：環状ベルトの変位
に基づいて駆動力ｆｕ を演算する手段とを備え、前記駆動力に基づいて前記環状ベルトを駆動するようにしたものである。
【００１９】
また、被訓練者の歩行面を環状ベルトで構成した歩道手段と、前記環状ベルトの走行を制御する手段とを備えた歩行訓練装置において、前記歩道手段に所望の等価質量ｍｄ 、等価減衰係数ｃｄ 及び等価ばね定数ｋｄ の各負荷特性を設定する手段と、前記各負荷特性と共に用いられる前記環状ベルトの走行速度（ｄｘ／ｄｔ）を検出する手段と、前記環状ベルトに作用する外力Ｆを検出する手段と、前記速度から前記環状ベルトの変位ｘを演算すると共に、前記各負荷特性と前記速度、変位及び外力とを用いて前記歩道手段の制御則

但し、α＝ｍａ／ｍｄ
ｍａ ：歩行路面の機構の等価質量
ｃａ ：歩行路面の機構の等価減衰係数
ｋａ ：歩行路面の機構の等価ばね定数
ｆｆ ：歩行路面の駆動機構がもっている抵抗力
ｆｕ ：駆動手段の駆動力
ｘ ：環状ベルトの変位
に基づいて駆動力ｆｕ を演算する手段とを備え、前記駆動力に基づいて前記環状ベルトを駆動するようにしたものである。
【００２０】
また、本発明の歩行訓練装置の制御方法は、被訓練者の歩行面を成すように動作する歩道手段と、前記歩行面の動作を制御する手段とを備えた歩行訓練装置の制御方法において、前記歩道手段の負荷特性を設定し、前記負荷特性と共に用いられる物理量を前記歩道手段から検出し、前記負荷特性と前記物理量とを用いて前記歩道手段の制御則を演算するようにしたものである。
【００２１】
本発明の制御方法における前記物理量も、前述したようなものが用いられる。
【００２２】
また、本発明の歩行訓練装置の制御方法は、被訓練者の歩行面を成すように動作する歩道手段と、前記歩行面の動作を制御する手段とを備えた歩行訓練装置の制御方法において、 前記歩道手段の負荷特性を設定し、前記負荷特性と共に用いられる前記歩行面の動作速度と、被訓練者によって前記歩行面に及ぼされる外力とを検出し、前記負荷特性、前記速度及び外力を用いて前記歩道手段の制御則を演算するようにしたものである。
【００２３】
さらに、本発明の歩行訓練装置の制御方法において、前記制御則の演算を、前記歩道手段の駆動によって前記駆動手段に生じる抵抗力を用いて、行うようにしたものである。
【００２４】
また、被訓練者の歩行面を環状ベルトで構成した歩道手段と、前記環状ベルトの走行を制御する手段とを備えた歩行訓練装置の制御方法において、前記歩道手段に所望の等価質量ｍｄ 、等価減衰係数ｃｄ 及び等価ばね定数ｋｄ の各負荷特性を設定し、前記各負荷特性と共に用いられる前記環状ベルトの走行速度（ｄｘ／ｄｔ）を検出し、前記速度から前記環状ベルトの加速度（ｄ^２ｘ／ｄｔ^２）と変位ｘとを演算すると共に、前記各負荷特性と前記速度、加速度及び変位とを用いて前記歩道手段の制御則

に基づいて駆動力ｆｕ を演算し、前記駆動力に基づいて前記環状ベルトを駆動するようにしたものである。
【００２５】
また、被訓練者の歩行面を環状ベルトで構成した歩道手段と、前記環状ベルトの走行を制御する手段とを備えた歩行訓練装置の制御方法において、前記歩道手段に所望の等価質量ｍｄ 、等価減衰係数ｃｄ 及び等価ばね定数ｋｄ の各負荷特性を設定し、前記各負荷特性と共に用いられる前記環状ベルトの走行速度（ｄｘ／ｄｔ）と、前記環状ベルトに作用する外力Ｆとを検出し、前記速度から前記環状ベルトの変位ｘを演算すると共に、前記各負荷特性と前記速度、変位及び外力とを用いて前記歩道手段の制御則

に基づいて駆動力ｆｕ を演算し、前記駆動力に基づいて前記環状ベルトを駆動するようにしたものである。
【００２６】
【作用】
被訓練者は歩道手段の歩行面上で歩行訓練を行う。このとき、本発明においては、前記歩道手段の負荷特性を変更するための設定手段を設けて、前記歩道手段から被訓練者が受ける負荷を変更可能な構成にしている。この設定は訓練毎に行うようにしても良いが、予め様々な負荷特性のパターンに応じたデータの組合せを用意し、データベースで管理するようにしても良い。
【００２７】
前記負荷特性の変更は、例えば、前記歩道手段の機構系をモデル化したときの実質的な等価質量、等価減衰係数又は等価ばね定数等に対する、所望の等価質量、等価減衰係数又は等価ばね定数等を設定することによって行うことができる。
【００２８】
また、前記歩道手段の動作に基づく物理量は、前記制御則の演算に用いられる。前記物理量としては、一般的には、前記歩行面の動作速度、加速度又は変位等が挙げられ、前記制御則にはこれらの１つ又は複数が組み合わされて用いられる。
【００２９】
前記歩行面は一般的には環状ベルトで構成されることが多い。このとき、前記速度は、例えば、エンコーダによって検出可能であるが、前記環状ベルトの変位及び加速度は前記速度から演算によって求めることができる。この演算は前記制御則を演算する手段によって行うことができるが、別に演算手段を設けることも可能である。さらに、前記変位、加速度を検出するための個別の検出手段を設けてもよい。
【００３０】
また、前記加速度を検出又は演算する代わりに、被訓練者が前記歩行面に及ぼす外力を検出して用いることができる。前記歩行面として環状ベルトを用いる場合には、前記外力はベルトの張力から検出することができる。
【００３１】
演算手段は前述のように前記制御則を演算するほか、検出した物理量から他の物理量を演算して得るために使用される。演算速度等が問題であれば、演算手段を目的別に複数設けても良い。
【００３２】
以上を見方を変えて説明すれば、本発明では、前記歩道手段の動作を制御する制御則の演算において、歩道手段の機構が有する、補正された等価質量、等価減衰係数又は等価ばね定数等を用いる。補正された等価質量、等価減衰係数又は等価ばね定数等は、測定又は演算によって得られた前記歩行面の変位、速度、加速度と共に前記制御則の演算に用いられ、その結果に基づいて、前記歩道手段がフィードバック制御されることによって、被訓練者から見た歩道手段の負荷特性が変更される。
【００３３】
また、被訓練者が前記歩道手段に及ぼす外力を考慮されることにより、被訓練者が前記歩行面を蹴る力に応じた速度で運動する、受動的な歩行訓練装置を実現することができる。
【００３４】
本発明の歩行訓練装置は前述したように受動的であるため、訓練開始時に、まず被訓練者が歩道手段の歩行面を後方へ蹴る必要がある。このとき、脚力が非常に弱くなっている被訓練者は、前記歩道手段が有する摩擦力の他、前記歩道手段の駆動によってその駆動手段に生じる抵抗力のために、前記歩道手段を駆動することができない場合もありうる。そこで、前記摩擦力や抵抗力に関する情報を前記制御則に与え、制御系において前記抵抗力が相殺されるようにすれば、前記歩行面は非常に小さな力で、被訓練者の後方に移動するようになり、脚力が非常に弱くなっている被訓練者でも、容易に訓練を開始することができる。
【００３５】
また、被訓練者の歩行開始前に前記歩行路面を被訓練者の反進行方向に微小時間駆動することによって、被訓練者の歩行開始を促し、訓練開始を容易にすることができる。
【００３６】
【実施例】
以下本発明を実施例を図面に基づいて、より詳しく述べる。
【００３７】
図１は、本発明の歩行訓練装置１の全体的構成を示す見取図である。
【００３８】
図１に示したように、歩行訓練装置１は、歩道手段２、及び制御装置３から成る。制御装置３は、歩道手段２とケーブルで電気的に接続されている。起動スイッチ１３は、外部から歩道手段２を起動させるものであり、制御装置３とケーブルで電気的に接続されている。被訓練者Ｕの歩行訓練中には、介助者Ｓ（図示せず）が補助を行う。
【００３９】
歩道手段２は床面又は地上に固定されている。歩道手段２は、歩行面を持ち、この歩行面は、互いに独立に動く２本の環状ベルト６（左足用６Ａ、右足用６Ｂ）により構成される。
【００４０】
制御装置３は、ＣＲＴ３０、計算機３１、キーボード（マウス含む）３２より成る。
【００４１】
被訓練者Ｕは、歩道手段２の２本の環状ベルト６（左足用６Ａ、右足用６Ｂ）から成る歩道手段２の上に立ち、歩行を行う。訓練中は、被訓練者に事故がないように介助者が状態を監視するが、歩道手段２に手すりなどを設けておいても良い。
【００４２】
歩道手段２には、被訓練者の左右の足に対応した２本の環状ベルト６（左足用６Ａ及び右足用６Ｂ）とその回転に伴って環状ベルトの速度を検出する左足ベルト速度検出手段７Ａ、右足ベルト速度検出手段７Ｂ、被訓練者と環状ベルトの間に生じる張力を検出する左足ベルト張力検出手段８Ａ、右足ベルト張力検出手段８Ｂ、左右それぞれの環状ベルト６Ａ、６Ｂを駆動する駆動手段９Ａ、９Ｂ、環状ベルトの変位を検出する左足ベルト変位検出手段１１Ａ、右足ベルト変位検出手段１１Ｂ、環状ベルトの加速度を検出する左足ベルト加速度検出手段１２Ａ、右足ベルト加速度検出手段１２Ｂを含む左足、右足の歩行装置４、５が固設されている。
【００４３】
なお、歩行訓練装置１には補強材１０が接合されており、さらには床面に固定されており、被訓練者Ｕの身体が左右前後に揺れても動かない。
【００４４】
制御装置３の作用を、図２を用いて説明する。
【００４５】
図１では統括制御装置３をＣＲＴ３０、計算機３１、キーボード３２で構成した例としたが、これはシステム構成図であり、図２は機能本意の図である。
【００４６】
制御装置３は、設定手段３３、データベース３４、演算手段３５からなる。設定手段３３は、演算手段３５の制御変数を与え、データベース３４は歩道手段２の機構の特性の情報がある。演算手段３５は、歩道手段２の左右のベルト速度検出手段７、ベルト張力検出手段８、駆動手段９、ベルト変位検出手段１１、ベルト加速度検出手段１２、起動スイッチ１３と接続しており、駆動手段９で発生すべき駆動力を出力する。
【００４７】
演算手段３５での駆動力算出法を、図３を用いて説明する。
【００４８】
図３は左右どちらか一方の歩道手段２を、１自由度のばね−マス−ダンパ系としてモデル化したもので、外力として、演算手段３５が算出した駆動力ｆｕ 、訓練者Ｕの足が接地時に加える力Ｆ、歩道手段２の機構が持っている抵抗力ｆｆ が作用している。抵抗力ｆｆは、駆動手段９に作用する抵抗力などの歩道手段２の機構が元々持っている固有の抵抗力の他に、歩行者Ｕが乗ったために環状ベルト６と補強材１０が接触して発生する摩擦力のように、歩行者Ｕの体重などの外部要因に依って変化する抵抗力がある。
【００４９】
図４のばね−マス−ダンパ系の運動方程式が
ｍａ（ｄ^２ｘ／ｄｔ^２）＋ｃａ（ｄｘ／ｄｔ）＋ｋａ ｘ＝ｆｕ＋ｆｆ＋Ｆ （９）
で与えられるものとする。ここで、
Ｆ：訓練者Ｕの足が接地時に加える力
ｆｕ：駆動手段の駆動力
ｆｆ：歩道手段２の機構が持っている抵抗力
ｘ：環状ベルト６の変位
ｔ：時刻
ｍａ：歩道手段２の機構の等価質量
ｃａ：歩道手段２の機構の等価減衰係数
ｋａ：歩道手段２の機構の等価ばね定数
である。なお、（ｄ^２ｘ／ｄｔ^２）、（ｄｘ／ｄｔ）、ｘ、Ｆはベルト加速度検出手段１２、ベルト速度検出手段７、ベルト変位検出手段１１、ベルト張力検出手段８によって検出される。さらに、ｍａ、ｃａ、ｋａのような機構固有の負荷特性（インピーダンス）と、ｆｆ と外部要因の関係の情報はデータベース３４にある。
【００５０】
訓練者Ｕの脚力が十分でない場合、即ちＦが小さい場合、歩行路面の負荷特性（ｍａ、ｃａ、ｋａ）と歩道手段２の機構が持っている抵抗力ｆｆが訓練者Ｕにとって大きすぎて、環状ベルト６の変位が小さくなる。ここで訓練者Ｕが歩行路面上での歩幅を稼ぐためにＦを大きくすると、踏ん張る動作となり自然な歩行が出来ないことが有り得る。
【００５１】
ここで、訓練者Ｕが自分の脚力で自然に歩行できる時の歩道手段２の外力Ｆに対する負荷特性が、
ｍｄ（ｄ^２ｘ／ｄｔ^２）＋ｃｄ（ｄｘ／ｄｔ）＋ｋｄ ｘ＝Ｆ （１０）
で表されるものとする。ここで、ｍｄ、ｃｄ、ｋｄ はそれぞれ質量、減衰係数、ばね定数である。歩道手段２の負荷特性（９）を（１０）に変更するには、演算手段３５が駆動力ｆｕ を

という制御則によって定めれば良い。
【００５２】
なお、ｆｆはデータベース３４から演算手段３５に伝達される。これをブロック図で表現したものが、図４である。これを、（ｄｘ／ｄｔ）、ｘ、Ｆが測定できる場合に書き直すと、

ただし、α＝ｍａ／ｍｄ
となる。これをブロック図で表現したものが、図５である。演算手段３５は
式（１２）で求められる駆動力ｆｕを駆動手段９の駆動力としている。
【００５３】
これにより、歩行訓練装置１の負荷特性を自在に変更でき、歩行訓練装置１に外力Ｆを加えている訓練者Ｕにとっては、さまざまな環境での歩行を体験できることになる。
【００５４】
実際の歩行環境は、例えば土の地面などは足の着地状況によって局所的な密度などが変化し、結果として負荷特性が時間に依って変化する場合がある。これを再現するには、
ｍｄ、ｃｄ、ｋｄのうち１個もしくは複数個を、ｘ、（ｄｘ／ｄｔ）、（ｄ^２ｘ／ｄｔ^２）、もしくはＦの関数として、
ｍｄ＝ｍｄ｛ｘ，（ｄｘ／ｄｔ），（ｄ^２ｘ／ｄｔ^２）｝ （１３）
もしくは、 ｍｄ＝ｍｄ｛ｘ，（ｄｘ／ｄｔ），Ｆ｝ （１４）
ｃｄ＝ｃｄ｛ｘ，（ｄｘ／ｄｔ），（ｄ^２ｘ／ｄｔ^２）｝ （１５）
もしくは、 ｃｄ＝ｃｄ｛ｘ，（ｄｘ／ｄｔ），Ｆ｝ （１６）
ｋｄ＝ｋｄ｛ｘ，（ｄｘ／ｄｔ），（ｄ^２ｘ／ｄｔ^２）｝ （１７）
もしくは、 ｋｄ＝ｋｄ｛ｘ，（ｄｘ／ｄｔ），Ｆ｝ （１８）
のように設定すれば良い。
【００５５】
ここで、ｍｄ、ｃｄ、ｋｄの設定例と、その効果を示す。
【００５６】
（ａ）ｍｄ、ｃｄ、ｋｄ のすべてを０としてはならない。
【００５７】
すべてを０とすると、理論上はＦの大小に依らず無限大の加速度を出すことになる。これは、歩道手段２が空回りすることになる。
【００５８】
（ｂ）ｃｄ、ｆｆのみを設定する。
【００５９】
例えば、駆動手段９にサーボモータを使用する場合、速度の検出手段には簡便で十分な精度のものがあるが、加速度や張力の検出手段は十分な精度を得るためには信号の処理が複雑になることが多い。そのため、歩道手段２の外力Ｆに対する負荷特性を、
ｍａ（ｄ^２ｘ／ｄｔ^２）＋ｃｄ（ｄｘ／ｄｔ）＋ｋａ ｘ＝Ｆ （１９）
とする。これにより、歩道手段２の検出手段はベルト速度検出手段７のみの簡便な方式で実現できることになる。さらには、
ｍｄ＝ｍｄ（ｄｘ／ｄｔ） （２０）
ｃｄ＝ｃｄ（ｄｘ／ｄｔ） （２１）
ｋｄ＝ｋｄ（ｄｘ／ｄｔ） （２２）
とすれば、ひとつの検出手段でさらに変化をつけられる。
【００６０】
さらに、訓練開始時に訓練者が歩き出さないときには、左右の歩行路面ともに、
｜ｆｕｓ｜＞｜ｆｆ｜ （２３）
で、訓練者から見て後ろ向きの駆動力ｆｕｓを、微少な時間△ｔだけ作用させる。すると訓練者の両足には
Ｐ＝（ｆｕｓ−ｆｆ）△ｔ （２４）
なる大きさの力積が作用し、訓練者は微少な時間△ｔの間足下をすくわれた状態になり、必然的に左右どちらかの足を前方に踏み出して転ばないようにする。これにより、強制的に歩行を開始させることが可能になる。
【００６１】
起動スイッチ１３を用いてこれを実現する例を図６の流れ図に示す。
【００６２】
起動スイッチ１３が押されない場合は（１１）または（１２）で決められるｆｕを駆動手段９に出力するようにし、起動スイッチ１３が押されてから時間△ｔまではｆｕｓを駆動手段９に出力する。起動スイッチ１３の方法としては、訓練者Ｕもしくは介助者Ｓが操作できるような手持ちのスイッチにして、準備が出来てから作用させる方法と、訓練開始になると自動的にｆｕｓを時間△ｔ作用させる強制的な方法とがある。時間△ｔは、通常の歩行で１歩に要する時間である０．５秒程度で十分であるため、演算手段３５にタイマ機能を組み込むことで実現できる。
【００６３】
また、訓練者Ｕもしくは介助者Ｓがうまく歩行のスタートが出来たと判断できるまで時間△ｔを与えられるよう、起動スイッチ１３が押されている間とすることも効果がある。
【００６４】
【発明の効果】
以上説明したように、本発明によれば、歩道手段の変位、速度、加速度を検出し、前記検出結果と歩道手段の負荷特性とに基づくフィードバック制御則によって歩道手段を駆動することにより、被訓練者が歩道手段より受ける負荷を自在に設定でき、設定した負荷のもとで被訓練者が望む歩行速度で歩行訓練を行うことができる歩行訓練装置またはその制御方法を提供することができる。
【００６５】
また、歩行面の駆動に対して歩道手段が有する抵抗力を、前記フィードバック制御則によって相殺することにより、前記負荷を、非常に小さい範囲から自在に設定することが可能な歩行訓練装置またはその制御方法を提供することができる。
【図面の簡単な説明】
【図１】本発明の歩行訓練機の外観図である。
【図２】本発明の制御手段の構成図である。
【図３】本発明の歩行路面駆動のモデルである。
【図４】本発明の制御則に関わる演算の一実施例を示すブロック図である。
【図５】本発明の制御則に関わる演算の他の実施例を示すブロック図である。
【図６】本発明の歩道手段の駆動方法の一実施例を示す流れ図である。
【符号の説明】
１…歩行訓練装置、２…歩道手段、３…制御装置、３０…ＣＲＴ、３１…計算機、３２…キーボード（マウス含む）、３３…設定手段、３４…データベース、３５…演算手段、４…左足歩行装置、５…右足歩行装置、６…環状ベルト、７…ベルト速度検出手段、８…ベルト張力検出手段、９…駆動手段、Ｕ…被訓練者、Ｓ…介助者。[0001]
[Industrial applications]
The present invention relates to a walking training apparatus for a trainee who needs to maintain or recover a walking function and a control method thereof.
[0002]
[Prior art]
In recent years, the number of elderly people and social changes have significantly reduced the strength of their legs. Also, an increasing number of people have suffered from impaired walking function due to illness or accident. One of the main rehabilitation measures for these people is walking training.
[0003]
Walking training methods include:
(B) There is a method of walking back and forth between two handrails passed in parallel by “grabbing and walking”. Is a method that requires space.
[0004]
As a method that enables long-distance walking without requiring a space, there is a training device called a treadmill provided with a belt-shaped walking road surface that moves at a set speed. However, the training device does not control the speed of the walking road surface according to the trainee's muscle strength or leg strength at the time of training.
[0005]
As for the training device, as training devices for controlling the speed of the walking road surface during walking, those disclosed in JP-A-62-258684 and JP-A-63-309280 are known. is there.
[0006]
The walker disclosed in Japanese Patent Application Laid-Open No. 62-258684 is provided with a sensor for detecting the movement of the foot of a pedestrian, timer means, arithmetic means, and drive control means for an endless belt serving as a walking road surface, The walking speed of the pedestrian is calculated from a relative position change of the stepping foot with respect to the walking road surface until the stepping foot separates from the walking road surface and comes into contact with the walking road surface again, and the endless belt is driven and controlled so as to follow the walking speed. That is.
[0007]
Further, the walking / running training device disclosed in Japanese Patent Application Laid-Open No. 63-309280 has a trainee position detecting means provided in front of the trainee, and based on a change in the trainee position, a walking road surface is determined. The running speed of the endless belt is controlled.
[0008]
[Problems to be solved by the invention]
In the training devices disclosed in each of the above-mentioned publications, the running speed of the belt serving as the walking road surface is controlled based on the displacement of the trainee on the walking training device. Alternatively, sufficient consideration has not been given to a means or method for setting the load received from the walking means constituting the walking road surface. Therefore, it was not possible to apply an appropriate load to the trainee according to, for example, the recovery state of the walking function.
[0009]
Further, a treadmill provided with a belt-like walking road surface that moves at a set speed can change the load by adjusting the set speed, but the trainee does not always need to change the load on the walking road surface. Since there is no need to apply a kicking force, the trainee could not be given an appropriate load.
[0010]
Further, there is a training device that applies a resistance to a belt serving as a walking road surface with a frictional force or the like, and applies a load to a trainee. In such a device, the running portion of the belt has the above-described device. Due to the influence of resistance and the like, there was a limit to reducing the load (in an extreme case, it could not be set to zero). In this case, there is a problem that the trainees whose leg strength is extremely weakened, for example, the trainee in the early stage of training is overloaded and cannot drive the walking road surface. In addition, in such a device, since the frictional force and the resistance of the running portion change, there is a problem that it is difficult to apply a constant load or that fine adjustment cannot be performed. I have.
[0011]
Therefore, an object of the present invention is to provide a walking training apparatus or a walking training apparatus capable of freely setting a load received by a trainee from sidewalk means and performing a walking training at a walking speed desired by the trainee under the set load. It is to provide a control method.
[0012]
It is another object of the present invention to provide a walking training apparatus or a control method thereof, in which the load can be freely set from a very small range.
[0013]
[Means for Solving the Problems]
In order to achieve the object described above, the present invention provides a walking training device according to the present invention, which includes a sidewalk means that operates to form a walking surface of a trainee, and a walking control device that controls the operation of the walking surface. In the training device, means for setting a load characteristic of the sidewalk means, means for detecting a physical quantity used together with the load characteristic from the sidewalk means, and a control rule for the sidewalk means using the load characteristic and the physical quantity. Means for calculating.
[0014]
Here, the load characteristic is a load characteristic of the sidewalk means viewed from the control means (control system), and represents a mechanical characteristic of the sidewalk mechanism mechanism system. For example, when the sidewalk means mechanism system is modeled as a spring-mass-damper system, the equivalent mass, equivalent damping coefficient, equivalent spring constant, and the like of the mechanism system viewed from the control system.
[0015]
Examples of the physical quantity used by the present invention include an operation speed, an acceleration, and a displacement of the walking surface, and these are used alone or in combination of two or more. When the walking surface is driven by the traveling means, the physical quantity is a traveling speed, an acceleration or a displacement of the walking surface, and is an angular velocity, an angular acceleration or an angle if the walking surface is constituted by a rotating body.
[0016]
Also, in a walking training device comprising sidewalk means operating to form a walking surface of a trainee and means for controlling the operation of the walking surface, a means for setting a load characteristic of the sidewalk means, Means for detecting an operation speed of the walking surface used together with characteristics, means for detecting an external force exerted on the walking surface by a trainee, and a control law for the sidewalk means using the load characteristics, the speed and the external force. And means for calculating.
[0017]
Further, in the walking training device according to the present invention, the calculation means calculates the control law by using a resistance generated in the driving means by driving the sidewalk means.
[0018]
Further, the walking training device of the present invention is a walking training device comprising sidewalk means in which the trainee's walking surface is formed by an annular belt, and means for controlling the running of the annular belt. Means for setting respective load characteristics of an equivalent mass md, an equivalent damping coefficient cd, and an equivalent spring constant kd; a means for detecting a running speed (dx / dt) of the annular belt used together with the respective load characteristics; The acceleration (d ² x / dt ² ) and displacement x of the annular belt are calculated, and the control law of the sidewalk means is calculated using the load characteristics and the speed, acceleration and displacement.

Where ma: equivalent mass of sidewalk means ca: equivalent damping coefficient of sidewalk means ka: equivalent spring constant ff of sidewalk means: resistance force fu of the driving mechanism of the walking surface fu: driving force of sidewalk means x: displacement of annular belt Means for calculating the driving force fu based on the driving force, and driving the annular belt based on the driving force.
[0019]
Further, in a walking training device comprising sidewalk means in which the trainee's walking surface is constituted by an annular belt, and means for controlling the running of the annular belt, a desired equivalent mass md, equivalent damping coefficient cd Means for setting each load characteristic of an equivalent spring constant kd, means for detecting the running speed (dx / dt) of the annular belt used together with each load characteristic, and detecting an external force F acting on the annular belt. Means for calculating the displacement x of the annular belt from the speed, and using the load characteristics and the speed, displacement and external force to control the sidewalk means.

Where α = ma / md
ma: Equivalent mass of the mechanism on the walking road surface ca: Equivalent damping coefficient ka of the mechanism on the walking road surface ka: Equivalent spring constant ff of the mechanism on the walking road surface: Resistance force fu of the driving mechanism on the walking road surface: Driving force x of driving means: Means for calculating a driving force fu based on the displacement of the annular belt, wherein the annular belt is driven based on the driving force.
[0020]
Further, the control method of the walking training device of the present invention is a method of controlling a walking training device including sidewalk means operating to form a walking surface of a trainee, and means for controlling the operation of the walking surface. A load characteristic of the sidewalk means is set, a physical quantity used together with the load characteristic is detected from the sidewalk means, and a control rule of the sidewalk means is calculated using the load characteristic and the physical quantity. .
[0021]
As the physical quantity in the control method of the present invention, those described above are used.
[0022]
Further, the control method of the walking training device of the present invention is a method of controlling a walking training device including sidewalk means operating to form a walking surface of a trainee, and means for controlling the operation of the walking surface. Set the load characteristics of the sidewalk means, detect the operating speed of the walking surface used together with the load characteristics, and the external force exerted on the walking surface by the trainee, using the load characteristics, the speed and the external force Thus, the control law of the sidewalk means is calculated.
[0023]
Further, in the control method of the walking training device according to the present invention, the calculation of the control law is performed by using a resistance generated in the driving means by driving the sidewalk means.
[0024]
Further, in a control method of a walking training device comprising sidewalk means in which a trainee's walking surface is constituted by an annular belt, and means for controlling the running of the annular belt, a desired equivalent mass md, equivalent to the sidewalk means is provided. The load characteristics of the damping coefficient cd and the equivalent spring constant kd are set, the traveling speed (dx / dt) of the annular belt used together with the load characteristics is detected, and the acceleration (d ² x) of the annular belt is determined from the speed. / Dt ² ) and displacement x, and using the load characteristics and the speed, acceleration, and displacement, the control law of the sidewalk means.

Is calculated based on the driving force fu, and the annular belt is driven based on the driving force.
[0025]
Further, in a control method of a walking training device comprising sidewalk means in which a trainee's walking surface is constituted by an annular belt, and means for controlling the running of the annular belt, a desired equivalent mass md, equivalent to the sidewalk means is provided. The load characteristics of the damping coefficient cd and the equivalent spring constant kd are set, and the traveling speed (dx / dt) of the annular belt used together with the load characteristics and the external force F acting on the annular belt are detected. Calculate the displacement x of the annular belt from the speed, and use the load characteristics and the speed, displacement and external force to control the sidewalk means.

Is calculated based on the driving force fu, and the annular belt is driven based on the driving force.
[0026]
[Action]
The trainee performs walking training on the walking surface of the sidewalk means. At this time, in the present invention, setting means for changing a load characteristic of the sidewalk means is provided so that a load received by the trainee from the sidewalk means can be changed. This setting may be performed for each training, or a combination of data corresponding to various patterns of load characteristics may be prepared in advance and managed in a database.
[0027]
The change of the load characteristic is, for example, a desired equivalent mass, an equivalent damping coefficient, an equivalent spring constant, or the like with respect to a substantial equivalent mass, an equivalent damping coefficient, or an equivalent spring constant when the mechanism of the sidewalk means is modeled. Can be set.
[0028]
The physical quantity based on the operation of the sidewalk means is used for calculating the control law. The physical quantity generally includes an operation speed, acceleration, displacement, or the like of the walking surface, and one or more of these are used in the control rule.
[0029]
In general, the walking surface is often constituted by an annular belt. At this time, the speed can be detected by, for example, an encoder, but the displacement and acceleration of the annular belt can be obtained by calculation from the speed. This calculation can be performed by means for calculating the control law, but it is also possible to provide a separate calculation means. Further, individual detection means for detecting the displacement and acceleration may be provided.
[0030]
Further, instead of detecting or calculating the acceleration, an external force exerted on the walking surface by the trainee can be detected and used. When an annular belt is used as the walking surface, the external force can be detected from the tension of the belt.
[0031]
The calculation means is used to calculate the control law as described above, and also to calculate and obtain another physical quantity from the detected physical quantity. If calculation speed is a problem, a plurality of calculation means may be provided for each purpose.
[0032]
In other words, in the present invention, in the calculation of the control law for controlling the operation of the sidewalk means, the corrected equivalent mass, equivalent damping coefficient or equivalent spring constant of the mechanism of the sidewalk means is calculated. Used. The corrected equivalent mass, equivalent damping coefficient, equivalent spring constant, and the like are used for calculating the control law together with the displacement, speed, and acceleration of the walking surface obtained by measurement or calculation, and based on the result, the sidewalk is used. The load characteristic of the sidewalk means viewed from the trainee is changed by the feedback control of the means.
[0033]
Also, by considering the external force exerted by the trainee on the sidewalk means, it is possible to realize a passive walking training device that exercises at a speed corresponding to the kicking force of the trainee on the walking surface.
[0034]
Since the walking training device of the present invention is passive as described above, the trainee must first kick the walking surface of the sidewalk means backward at the start of training. At this time, the trainee whose leg strength is extremely weak may drive the sidewalk means due to the frictional force of the sidewalk means and the resistance generated in the driving means by driving the sidewalk means. May not be possible. Therefore, if the information relating to the frictional force and the resistance is given to the control law, and the resistance is offset in the control system, the walking surface moves to the rear of the trainee with a very small force. As a result, even a trainee whose leg strength is very weak can easily start training.
[0035]
In addition, by driving the walking road surface in the counter-moving direction of the trainee for a short time before the trainee starts walking, the trainee can be encouraged to start walking and can easily start training.
[0036]
【Example】
Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings.
[0037]
FIG. 1 is a sketch drawing showing the overall configuration of a walking training device 1 of the present invention.
[0038]
As shown in FIG. 1, the walking training device 1 includes sidewalk means 2 and a control device 3. The control device 3 is electrically connected to the sidewalk means 2 by a cable. The activation switch 13 activates the sidewalk means 2 from the outside, and is electrically connected to the control device 3 by a cable. During walking training of the trainee U, an assistant S (not shown) provides assistance.
[0039]
The sidewalk means 2 is fixed to the floor or the ground. The sidewalk means 2 has a walking surface, and this walking surface is constituted by two annular belts 6 (6A for the left foot and 6B for the right foot) that move independently of each other.
[0040]
The control device 3 includes a CRT 30, a computer 31, and a keyboard (including a mouse) 32.
[0041]
The trainee U stands on the sidewalk means 2 including the two annular belts 6 (6A for the left foot and 6B for the right foot) of the sidewalk means 2 and walks. During the training, the caregiver monitors the condition so that the trainee does not have an accident, but a handrail may be provided on the sidewalk means 2.
[0042]
The sidewalk means 2 includes two annular belts 6 (6A for the left foot and 6B for the right foot) corresponding to the left and right feet of the trainee, and a left foot belt speed detecting means 7A for detecting the speed of the annular belt with its rotation. , Right leg belt speed detecting means 7B, left leg belt tension detecting means 8A for detecting tension generated between the trainee and the annular belt, right leg belt tension detecting means 8B, and driving means 9A for driving left and right annular belts 6A, 6B. , 9B, left foot belt displacement detection means 11A for detecting the displacement of the annular belt, right foot belt displacement detection means 11B, left foot belt acceleration detection means 12A for detecting the acceleration of the annular belt, and right foot belt acceleration detection means 12B including the right foot belt acceleration detection means 12B. Walking devices 4 and 5 are fixed.
[0043]
In addition, the reinforcement 10 is joined to the walking training device 1, and furthermore, is fixed to the floor surface, and does not move even if the body of the trainee U swings right and left and back and forth.
[0044]
The operation of the control device 3 will be described with reference to FIG.
[0045]
FIG. 1 shows an example in which the general control device 3 is constituted by a CRT 30, a computer 31, and a keyboard 32. However, this is a system configuration diagram, and FIG. 2 is a diagram mainly showing functions.
[0046]
The control device 3 includes a setting unit 33, a database 34, and a calculation unit 35. The setting means 33 gives control variables of the calculating means 35, and the database 34 has information on the characteristics of the mechanism of the sidewalk means 2. The calculating means 35 is connected to the left and right belt speed detecting means 7, the belt tension detecting means 8, the driving means 9, the belt displacement detecting means 11, the belt acceleration detecting means 12, the start-up switch 13 of the sidewalk means 2, and the driving means. In step 9, the driving force to be generated is output.
[0047]
The method of calculating the driving force in the calculating means 35 will be described with reference to FIG.
[0048]
FIG. 3 shows a model of one of the left and right sidewalk means 2 as a one-degree-of-freedom spring-mass-damper system. As the external force, the driving force fu calculated by the arithmetic means 35 and the foot of the trainee U touch the ground. The force F sometimes applied and the resistance ff of the mechanism of the sidewalk means 2 are acting. The resistance ff is not only the inherent resistance of the sidewalk means 2 such as the resistance acting on the driving means 9 but also the annular belt 6 and the reinforcing member 10 coming into contact with each other due to the pedestrian U riding. Like the frictional force generated by the pedestrian U, the frictional force varies depending on external factors such as the weight of the pedestrian U.
[0049]
Figure 4 of the spring - mass - equation of motion damper system ^{ma (d 2 x / dt 2} ) + ca (dx / dt) + ka x = fu + ff + F (9)
Shall be given by here,
F: the force applied by the foot of the trainee U when touching the ground fu: the driving force ff of the driving means: the resistance force of the mechanism of the sidewalk means 2 x: the displacement of the annular belt 6 t: the time ma: the mechanism of the sidewalk means 2 Equivalent mass ca: equivalent damping coefficient ka of the mechanism of sidewalk means 2: equivalent spring constant of the mechanism of sidewalk means 2. Note that (d ² x / dt ² ), (dx / dt), x, and F are detected by the belt acceleration detection unit 12, the belt speed detection unit 7, the belt displacement detection unit 11, and the belt tension detection unit 8. Further, information on the load characteristics (impedance) specific to the mechanism such as ma, ca, and ka, and information on the relationship between ff and external factors are stored in the database 34.
[0050]
When the leg strength of the trainee U is not sufficient, that is, when F is small, the load characteristics (ma, ca, ka) of the walking road surface and the resistance ff of the mechanism of the sidewalk means 2 are too large for the trainee U, The displacement of the annular belt 6 is reduced. Here, if the trainee U increases F in order to gain a stride on a walking road surface, the trainee will be stepping on and may not be able to walk naturally.
[0051]
Here, the load characteristic of the sidewalk means 2 with respect to the external force F when the trainee U can walk naturally with his / her leg strength is:
md (d ² x / dt ² ) + cd (dx / dt) + kd x = F (10)
It is assumed that Here, md, cd, and kd are a mass, a damping coefficient, and a spring constant, respectively. To change the load characteristic (9) of the sidewalk means 2 to (10), the calculating means 35 changes the driving force fu to

It may be determined according to the control rule.
[0052]
Note that ff is transmitted from the database 34 to the calculation means 35. FIG. 4 shows this in a block diagram. If this is rewritten when (dx / dt), x, and F can be measured,

Where α = ma / md
It becomes. FIG. 5 shows this in a block diagram. The calculating means 35 uses the driving force fu obtained by the equation (12) as the driving force of the driving means 9.
[0053]
Thereby, the load characteristic of the walking training device 1 can be freely changed, and the trainee U who applies the external force F to the walking training device 1 can experience walking in various environments.
[0054]
In an actual walking environment, for example, on the ground of the soil, local density or the like changes depending on a landing state of a foot, and as a result, load characteristics may change with time. To reproduce this,
One or more of md, cd, and kd are defined as x, (dx / dt), (d ² x / dt ² ), or a function of F,
md = md {x, (dx / dt), (d ² x / dt ² )} (13)
Or md = md {x, (dx / dt), F} (14)
cd = cd {x, (dx / dt), (d ² x / dt ² )} (15)
Or cd = cd {x, (dx / dt), F} (16)
kd = kd {x, (dx / dt), (d ² x / dt ² )} (17)
Or kd = kd {x, (dx / dt), F} (18)
It should be set as follows.
[0055]
Here, setting examples of md, cd, and kd and their effects will be described.
[0056]
(A) md, cd, and kd must not all be 0.
[0057]
If all are set to 0, theoretically an infinite acceleration will be generated regardless of the magnitude of F. This means that the sidewalk means 2 idles.
[0058]
(B) Only cd and ff are set.
[0059]
For example, when a servomotor is used for the driving means 9, speed detecting means is simple and has sufficient accuracy, but acceleration and tension detecting means require complicated signal processing to obtain sufficient accuracy. Often becomes. Therefore, the load characteristic of the sidewalk means 2 with respect to the external force F is
ma (d ² x / dt ² ) + cd (dx / dt) + ka x = F (19)
And As a result, the detection means of the sidewalk means 2 can be realized by a simple method using only the belt speed detection means 7. Moreover,
md = md (dx / dt) (20)
cd = cd (dx / dt) (21)
kd = kd (dx / dt) (22)
Then, a further change can be made by one detecting means.
[0060]
Furthermore, when the trainee does not start walking at the start of training,
| Fus |> | ff | (23)
Then, the backward driving force fus as seen from the trainee is applied only for a small time Δt. Then, P = (fus−ff) △ t (24)
The impulse of a certain magnitude acts, and the trainee is in a state of being scooped for a minute time Δt, and inevitably steps forward on either the right or left foot so as not to fall. This makes it possible to forcibly start walking.
[0061]
An example in which this is realized using the start switch 13 is shown in the flowchart of FIG.
[0062]
If the start switch 13 is not pressed, fu determined in (11) or (12) is output to the driving means 9, and fus is output to the driving means 9 until the time Δt after the start switch 13 is pressed. . As a method of the activation switch 13, a hand-held switch that can be operated by the trainee U or the caregiver S, a method of operating after preparation, and a method of automatically operating fus for a time Δt when training starts. There is a forced method. The time Δt is about 0.5 seconds, which is the time required for one step in normal walking, which is sufficient. Therefore, the time Δt can be realized by incorporating a timer function into the calculating means 35.
[0063]
It is also effective that the start switch 13 is pressed so that the trainee U or the assistant S can be given a time Δt until it can be determined that the walking has been successfully started.
[0064]
【The invention's effect】
As described above, according to the present invention, the displacement, speed, and acceleration of the sidewalk means are detected, and the sidewalk means is driven by the feedback control law based on the detection result and the load characteristic of the sidewalk means. It is possible to provide a walking training apparatus or a control method thereof, in which a load received by a trainee from a sidewalk means can be set freely, and a walking training can be performed at a walking speed desired by the trainee under the set load.
[0065]
In addition, a walking training device or a control thereof that can set the load freely from a very small range by canceling the resistance of the sidewalk means against the driving of the walking surface by the feedback control law. A method can be provided.
[Brief description of the drawings]
FIG. 1 is an external view of a walking training machine according to the present invention.
FIG. 2 is a configuration diagram of control means of the present invention.
FIG. 3 is a model of a walking road surface drive according to the present invention.
FIG. 4 is a block diagram showing one embodiment of a calculation relating to a control law according to the present invention.
FIG. 5 is a block diagram showing another embodiment of the calculation relating to the control law of the present invention.
FIG. 6 is a flowchart showing one embodiment of a method for driving sidewalk means of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Walking training device, 2 ... Sidewalk means, 3 ... Control device, 30 ... CRT, 31 ... Computer, 32 ... Keyboard (including mouse), 33 ... Setting means, 34 ... Database, 35 ... Calculation means, 4 ... Left foot walking Apparatus, 5: right foot walking device, 6: annular belt, 7: belt speed detecting means, 8: belt tension detecting means, 9: driving means, U: trainee, S: helper.

Claims (18)

In a walking training apparatus including a sidewalk means in which a trainee's walking surface is formed by an annular belt, and a means for controlling traveling of the annular belt, a means for setting a load characteristic of the sidewalk means, A walking training device comprising: means for detecting a displacement or acceleration of the annular belt used; and means for calculating a control law of the sidewalk means using the load characteristics and the displacement or acceleration. In a walking training device including a sidewalk means in which a trainee's walking surface is formed by an annular belt, and a means for controlling traveling of the annular belt, a means for setting a load characteristic of the sidewalk means, A means for detecting a traveling speed of the annular belt used; a means for calculating a control law of the sidewalk means using the load characteristics and the speed; and a means for detecting displacement and acceleration of the annular belt. A walking training device, characterized in that: 2. The walking training device according to claim 1, further comprising means for calculating an undetected physical quantity among speed, displacement, and acceleration of the annular belt based on a detection result of the detecting means. Training equipment. The walking training device according to any one of claims 1 to 3, wherein a tension of the annular belt is detected instead of the acceleration. 4. The walking training device according to claim 1, wherein the load characteristic is a desired characteristic value for changing a substantial equivalent mass, an equivalent damping coefficient, or an equivalent spring constant of the sidewalk means. Walking training device. The walking training device according to any one of claims 1 to 3, wherein the calculating means calculates the control law using a resistance generated in the driving means by driving the sidewalk means. Training equipment. In walking training device provided with a walkway means the walking surface of the trainee is constituted by an annular belt, and means for controlling the travel of the annular belt, a desired equivalent mass in the walkway means m d, the equivalent damping coefficient c d and means for setting the respective load characteristics of the equivalent spring constant k d, and means for detecting the running speed of the endless belt to be used together with the respective load characteristics (d x / d t), acceleration of the annular belt from the speed while calculating the ^{(d 2 x / d t 2} ) and the displacement x, the control law of the walkway means using the speed and the respective load characteristics, the acceleration and displacement

However, m a: equivalent sidewalk means mass
c a : Equivalent attenuation coefficient of sidewalk means
k a : equivalent spring constant of sidewalk means
f f: resistance force the walking surface of the drive mechanism has
f u : driving force of sidewalk means
x : Displacement of annular belt
Driving force and means for calculating the f u, provided with, on the basis of the driving force, walking training device, characterized in that to drive the endless belt based on. In walking training device provided with a walkway means the walking surface of the trainee is constituted by an annular belt, and means for controlling the travel of the annular belt, a desired equivalent mass in the walkway means m d, the equivalent damping coefficient c d Means for setting each load characteristic of an equivalent spring constant k d , means for detecting a running speed (d x / d t ) of the annular belt used together with each load characteristic, and an external force F acting on the annular belt. And a displacement x of the annular belt is calculated from the speed, and the control law of the sidewalk means is calculated using the load characteristics and the speed, displacement and external force.

α = m a / m d
m a: equivalent mass of walking the road of mechanism
c a : Equivalent damping coefficient of the mechanism on the walking road surface
k a : equivalent spring constant of the mechanism on the walking road surface
F : External force acting on the belt
f f: resistance force walking the road surface of the drive mechanism has
f u : driving force of driving means
x : Displacement of annular belt
Driving force and means for calculating the f u, provided with, on the basis of the driving force, walking training device, characterized in that to drive the endless belt based on. The walking training device according to any one of claims 1 to 8, further comprising means for driving the walking surface in a direction opposite to the direction of movement of the trainee for a very short time. In a control method for a walking training device, comprising: a sidewalk means in which a trainee's walking surface is formed by an annular belt; and a means for controlling running of the annular belt, a load characteristic of the sidewalk means is set, and Detecting a displacement or acceleration of the annular belt used together with the control means, and calculating a control law of the sidewalk means using the load characteristic and the displacement or acceleration. The control method for a walking training device according to claim 10, wherein a displacement and an acceleration of the annular belt are detected in addition to the speed. The control method for a walking training device according to claim 10, wherein an undetected physical quantity is calculated among speed, displacement, and acceleration of the annular belt based on a detection result of the detection unit. Control method of walking training device. 13. The control method for a walking training device according to claim 10, wherein a tension of the annular belt is detected instead of the acceleration.   13. The method for controlling a walking training device according to claim 10, wherein the load characteristic is a desired characteristic value for changing a substantial equivalent mass, an equivalent damping coefficient, or an equivalent spring constant of the sidewalk means. A method for controlling a walking training device, comprising: 13. The walking training device according to claim 10, wherein the calculation of the control law is performed using a resistance generated in the driving unit by driving the sidewalk unit. Method. In a control method of a walking training device, comprising: a sidewalk means in which a trainee's walking surface is formed by an annular belt; and a means for controlling the running of the annular belt, a desired equivalent mass m d , equivalent attenuation set each load characteristics of the coefficient c d and equivalent spring constant k d, the detecting the traveling speed of the endless belt to be used with each load characteristic (d x / d t), acceleration of the annular belt from the speed ( while calculating a d ² x / d t ²⁾ and the displacement x, the control law of the walkway means using the speed and the respective load characteristics, the acceleration and displacement

However, m a: equivalent sidewalk means mass
c a : Equivalent attenuation coefficient of sidewalk means
k a : equivalent spring constant of sidewalk means
f f: resistance force the walking surface of the drive mechanism has
f u : driving force of sidewalk means
x : Displacement of annular belt
The method of gait training device calculates the driving force f u, and drives the endless belt based on said driving force based on. In a control method of a walking training device, comprising: a sidewalk means in which a trainee's walking surface is formed by an annular belt; and a means for controlling the running of the annular belt, a desired equivalent mass m d , equivalent attenuation set each load characteristics of the coefficient c d and equivalent spring constant k d, the a running speed of the endless belt to be used with each load characteristic (d x / d t), detecting the external force F acting on the annular belt And calculating the displacement x of the annular belt from the speed, and using the load characteristics and the speed, displacement and external force to control the sidewalk means.

α = m a / m d
m a: equivalent mass of walking the road of mechanism
c a : Equivalent damping coefficient of the mechanism on the walking road surface
k a : equivalent spring constant of the mechanism on the walking road surface
F : External force acting on the belt
f f: resistance force walking the road surface of the drive mechanism has
f u : driving force of driving means
x : Displacement of annular belt
The method of gait training device calculates the driving force f u, and drives the endless belt based on said driving force based on. The control method for a walking training device according to any one of claims 10 to 17, wherein the walking road surface is driven for a short time in a direction opposite to a traveling direction of the trainee.

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