JP3584663B2 - Walking training device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a walking training device that allows a user to experience pseudo walking in a small space.
[0002]
[Prior art]
Japanese Unexamined Patent Application Publication No. 8-14027 discloses a walking training device for a trainee who needs to maintain or recover a walking function. In this device, a sidewalk means in which a trainee's walking surface is constituted by an annular belt, and means for controlling the running speed of the annular belt are provided, and further, means for setting a load characteristic of the sidewalk means, A means for detecting a running speed; and a means for calculating a control law of the sidewalk means using the load characteristics and the running speed.
[0003]
At this time, the substantial equivalent mass, equivalent damping coefficient, or equivalent spring constant of the sidewalk means is used as the load characteristic of the sidewalk means. An equation for calculating the driving force of the sidewalk means using the displacement of the belt is described. Furthermore, a configuration of a control device that controls the driving force of the sidewalk means, that is, the walking surface based on the above control law is disclosed.
[0004]
It is disclosed that the above-described device can realize a passive walking training device that moves at a speed corresponding to the force of the trainee kicking the walking surface.
[0005]
[Problems to be solved by the invention]
However, in the above-mentioned prior art, sufficient consideration has not been given to the fact that a trainee whose strength of one leg is significantly inferior to that of the other leg performs training. That is, in the case of a trainee having a considerable difference in leg strength between both legs, or a case where both legs have a considerable dysfunction, it may be preferable to train both legs one by one instead of training at once. In this case, in the above-described related art, there is a possibility that the two left and right belts corresponding to the left and right legs respectively detect the force applied by the trainee unconsciously and run.
[0006]
Therefore, an object of the present invention is to provide a walking training device characterized in that a training mode for performing training focusing on one leg can be selected from a plurality of training modes.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides In a walking training device including: a walking surface device having two left and right walking surfaces; and a control device that independently controls travel of the walking surface, wherein the control device sets one of the walking surfaces at a fixed position. Means for maintaining control, said support device comprising a handle for the trainee to grip and / or a back belt and / or a waist belt for holding the trainee to the support device. Things.
[0008]
In order to achieve the above object, the present invention provides: A walking training device comprising: a walking surface device having two left and right walking surfaces; a control device that independently controls travel of the walking surface; and a support device that supports a trainee riding on the walking surface. The support device includes a handle that can be grasped by a trainee, and a rear belt and / or a waist belt that holds the trainee on the support device. Things.
[0009]
In order to achieve the above object, the present invention provides: A walking training device, comprising: a walking surface device having two left and right walking surfaces; a control device that independently controls travel of the walking surface; and a support device that supports a trainee riding on the walking surface. Comprises means for controlling one of the walking surfaces in a fixed position and allowing only the other walking surface to run, wherein the support device holds a handle that can be grasped by a trainee, and holds the trainee on the support device. With back belt and / or waist belt Things.
[0010]
At this time, as means for holding one of the walking surfaces at a fixed position, means for controlling the walking surface at a fixed position or means for mechanically fixing the walking surface can be considered. The mechanical fixing means is controlled by a control device, and the simplest example of this control is switching between a fixed state and a non-fixed state.
[0011]
In order to achieve the above object, the present invention provides: In a walking training device including a walking surface device having two left and right walking surfaces, a control device for controlling running on the walking surface, and a support device for supporting a trainee riding on the walking surface, the control device includes a walking device. A first control means for detecting the state of the surface and controlling the running of the walking surface independently on the left and right; and a second controlling means for holding one of the walking surfaces at a fixed position and controlling only the other walking surface to be able to run. Control means, and selection means for selecting the first and second control means, wherein the support device includes a handle that can be grasped by a trainee and / or a rear belt or a waist belt that holds the trainee on the support device. With heels Things.
[0012]
In order to achieve the above object, the present invention provides: A walking training device, comprising: a walking surface device having two left and right walking surfaces; a control device that independently controls travel of the walking surface; and a support device that supports a trainee riding on the walking surface. Has a plurality of control modes, comprises a selection means for independently selecting the plurality of control modes for each of the left and right walking surfaces, the support device is a handle that can be grasped by the trainee, and the trainee to the support device With a back belt and / or waist belt to hold It is a thing.
[0013]
According to each of the above configurations, one leg can be placed on a walking surface that can be regarded as stopped or stopped, and the other leg can be trained on a running or running walking surface.
At this time, the walking surface corresponding to the other leg may always be driven at a constant speed, or the speed or the trainee may be controlled as in the case where the running state is controlled according to the force applied from the leg to the walking surface. May be controlled so that the reaction force received from the walking surface changes.
[0014]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an overall configuration of a walking training device 1 according to the present invention.
The walking training device 1 includes a walking surface device 2, a control device 3, a support device 4, and a display 5. The control device 3 is configured to be separable from the walking surface device 2, and both are electrically connected by a cable. The control device 3 also controls the driving of the support device 4 and the display on the display 5 in addition to the walking surface device 2.
[0015]
Hereinafter, each component will be described.
The walking surface device 2 will be described with reference to FIGS.
FIG. 2 is a diagram of the walking surface device 2 as viewed from above, and FIG. 3 is a diagram illustrating a cross section of the walking surface device 2 of FIG. FIG. 2 also shows a part of the configuration of the control device, which will be described later.
The walking surface device 2 has a walking surface 6 that is fixed to the floor or the ground, and on which a trainee rides and walks. The walking surface 6 includes a right foot walking surface 6A and a left foot walking surface 6B which are formed by annular belts that move independently of each other. Two annular belts forming these walking surfaces (hereinafter, the walking surface is defined as an annular belt) Are described in parallel and close to each other.
[0016]
As shown in FIG. 3, the left and right annular belts 6A and 6B are stretched between the left and right driving rollers 7A and 7B and the left and right driven rollers 8A and 8B and run. At this time, a free roller 9 is disposed between the driving roller and the driven roller, and supports the annular belt so as to assist the traveling of the annular belt.
[0017]
At this time, a sensor for detecting sinking or bending deformation of the free roller 9 may be provided so as to detect that the trainee's foot has landed. If this sensor is provided on the plurality of free rollers 9 along the longitudinal direction of the annular belt, it is possible to detect the position where the foot lands.
[0018]
On the other hand, as shown in FIG. 2, the driving rollers 7A and 7B are rotationally driven by left and right motors 10A and 10B as driving means, and the left and right annular belts 6A and 6B are driven to travel. At this time, the left and right driven rollers 8A and 8B are provided with belt speed detecting means 11A and 11B for detecting the speed of the annular belts 6A and 6B with their rotation, and belt displacement detecting means for detecting the displacement of the annular belts 6A and 6B. Belt acceleration detecting means 13A and 13B for detecting accelerations of the belts 12A and 12B and the annular belts 6A and 6B are provided.
[0019]
The support device 4 will be described with reference to FIGS.
FIG. 4 is a side view of a state in which the trainee is supported by the support device 4.
The support device 4 is for supporting the trainee on the walking surface device 2, and the support arm 41 having a round cushion provided on both sides of the trainee's body and the trainee can grasp. Thus, a handle 42 having a grip portion 44 and a force sensor provided between the support arm 41 and the handle 42 are provided. Further, the support arm 41 has a rear belt 46 provided at its rear end to connect between the two support arms 41 provided on both sides of the trainee's body, and a waist attached to the trainee's waist. A belt 45 is provided detachably. Reference numeral 43 denotes a force sensor that detects a force applied to the support device 4 by a trainee, and is provided between the handle 42 and the support arm 41.
[0020]
The above-mentioned support device is designed to support the lower back of the trainee. However, when targeting a trainee with improved leg strength, instead of the support device 4, both sides of the walking surface device and The front could be provided with a safety device such as a handrail that can be grasped by the trainee.
[0021]
Next, the control device 3 will be described with reference to FIGS.
As shown in FIG. 1, the control device 3 includes a display device 31 such as a CRT, a keyboard (including a mouse) 32 as input means, and an arithmetic device (not shown). FIG. 1 is a system configuration diagram. The function of the control device 3 will be described with reference to FIG. The control device 3 includes a calculation unit 14, an information preprocessing unit 15, an information display unit 16, a database 17, and a setting input unit 18. In addition, the motor 10, which is a driving unit of the walking surface device 2, and each detection unit (11 to 13) are connected by a signal bus 19.
[0022]
The setting input means 18 is a means for independently inputting an operation mode during walking training (details will be described later) and set values in each operation mode independently of the left and right annular belts 6A and 6B, such as the keyboard 32 in FIG. Is used.
[0023]
The information preprocessing means 15 performs conversion processing such as conversion of units on the information from the detection means (11 to 13) and the arithmetic means 14 in order to display the information on the information display means 16, The information from 13) is subjected to conversion processing such as differentiation and integration, and is sent to the arithmetic means 14. For example, even if the information from the detecting means (11 to 13) is only the speed, the differentiation is obtained, and the acceleration is obtained, and the integration is obtained, the distance is obtained. The information display means 16 uses a display device 31 such as the CRT shown in FIG.
[0024]
The calculating means 14 controls the motors 10A and 10B as driving means using various sensors, for example, the output of an encoder provided as the speed detecting means 9 for the annular belt, according to the setting from the setting input means 18. Is calculated.
[0025]
As the calculation of the control amount, for example, a calculation based on a control law as disclosed in Japanese Patent Application Laid-Open No. 8-14027 can be applied. At this time, the database 17 is provided for storing load characteristics of the walking surface device, different control rules (formulas), and the like. As the load characteristic, a substantial equivalent mass, equivalent damping coefficient, equivalent spring constant, or the like when a mechanical system of the walking surface device is modeled is used. Although the above-mentioned publication discloses a plurality of control rules, the trainee walks using a desired value of the load characteristic and the speed of the annular belt or an external force (tension of the annular belt) acting on the annular belt. It is possible to realize a passive walking training device that moves at a speed corresponding to the kicking force of the surface.
[0026]
By the way, the walking training device according to the present invention includes a training mode in which one of the left and right annular belts is substantially stopped for training. The training mode included in the walking training device of the present embodiment including the training mode will be described.
[0027]
First, trainees' encouragement can be classified into the following three cases depending on the difference in their ability to move their legs.
Case 1: The muscle strength for moving the legs is extremely weak, and almost only moves up and down.
Case 2: The leg can be moved back and forth, but the power to kick the road is extremely small.
Case 3: The leg can be moved back and forth to kick the road surface.
[0028]
On the other hand, the following four operation modes are prepared for the operation modes of the left and right annular belts 6A and 6B which can be set from the setting input means 18.
[0029]
(1) Stop (fixed) mode
The belt is fixed or held in a fixed position so that the annular belt does not move. In order to realize this mode, for example, a method of configuring a position feedback control system using an integrated value of the output of the displacement detecting means 12 or the speed detecting means 11 in the arithmetic means 14 or the motor 10 as the driving means There is a method of using the one with a brake.
[0030]
(2) Speed control mode
The speed of the annular belt 6 is moved at the speed target input from the setting input means 13. In order to realize this mode, for example, there is a method in which a speed feedback control system using the belt speed detecting means 9 is configured in the calculating means 14.
[0031]
In this speed control mode, the running speed of the annular belt 6 may be a constant speed, or the speed may be changed. Further, when the speed is changed, it may be detected that the trainee's foot lands, and the speed is gradually increased. Further, the speed pattern may be determined from the difference between the position of the landed foot and the position of the standing foot, so that the burden on the trainee may be reduced or adjusted. In this case, a method is considered in which the annular belt is driven and accelerated after landing, and deceleration control is performed so as to stop when the belt comes to the standing position.
[0032]
The detection of the standing position and the landing position can be performed using the sensors provided on the above-mentioned free rollers.
[0033]
(3) Load control mode
The load on the annular belt 6 as seen from the trainee is controlled to be the load input from the setting input means 13. As this control mode, for example, the control disclosed in Japanese Patent Application Laid-Open No. H08-141027 can be used. Although detailed description is omitted here, active impedance control is applied, and the walking viewed from the trainee is performed. Passive walking training in which the trainee exercises at a speed corresponding to the force of kicking the sidewalk means by determining the load characteristics of the surface device 6 and applying a driving force to the annular belt 6 to assist kicking. It implements the device. In addition, the load characteristics can be freely changed according to the trainee's leg capabilities. This control mode is suitable for maintaining and enhancing the leg muscle strength, especially for Case 3 where the road surface can be kicked.
[0034]
In the load control mode, the driving force for assisting kicking is large enough to negate the resistance of the walking road surface, such as friction, so that the annular belt is stationary with no load. Therefore, the trainee U is required to kick the annular belt regardless of the strength.
[0035]
If the driving force for assisting kicking is increased, the leg can be moved back and forth, but the kicking force on the road surface can be applied to Case 2 which is extremely small. This method is particularly called a drive assist mode. Next, details of the drive assist mode will be described.
[0036]
(4) Drive assist mode
In this control mode, as in the load control mode, active impedance control is applied, the load characteristics of the sidewalk means viewed from the trainee are determined, and a force for driving the annular belt is provided to assist kicking. However, in a state where the trainee U is not riding on the annular belt, that is, in a state where there is no load, a driving force for assisting kicking is applied to such an extent that the annular belt moves at a constant speed.
[0037]
The drive assist mode is applicable to Case 1 and Case 2 without kicking force, and furthermore, since it exercises at a speed corresponding to the kicking force, the legs can be moved back and forth as in Case 2. However, even when the kicking force on the road surface is extremely small, the speed can be adjusted according to the movement of the leg.
[0038]
By using the above-described four operation (control) modes, it is possible to perform training suited to the condition of the trainee.
[0039]
In general, many trainees who need walking training often have dysfunction in either the left or right leg, such as a stroke (single paralysis) or a fracture. For such a trainee, it may be preferable to select a different operation mode for each of the left and right annular belts for training.
[0040]
FIG. 2 shows a configuration in which a switching unit (selecting unit) that switches (selects) the operation mode of the annular belt differently between left and right in such a case is provided.
The arithmetic unit 14 of the control device 3 includes a right annular belt arithmetic unit 14A and a left annular belt arithmetic unit 14B. Of course, these are prepared as software.
[0041]
The right annular belt calculating means 14A is provided with right speed control means 201A, right load control means 202A, and right stop control means 203A as software. Similarly, the left annular belt computing means 14B includes left speed control means 201B, left load control means 202B, and left stop control means 203B as software. The above speed control means is a control means for realizing the above speed control mode, the load control means is a control means for realizing the load control mode and the drive assist mode, and the stop control means is a means for realizing the stop mode. .
[0042]
Necessary data such as the load characteristics of the walking surface device required for each control mode is stored in the database 17 of FIG.
[0043]
Further, as shown in FIG. 2, each of the control means 201A to 203A for the right annular belt and each of the control means 201B to 203B for the left annular belt can be appropriately selected by switching means 204A and 204B. At this time, by specifying the mode to be selected by the setting input unit 18, the mode selecting unit 205 selects an appropriate control unit from the right annular belt arithmetic unit 14A and the left annular belt arithmetic unit 14B. These switching means 204A and 204B are also realized as software.
[0044]
At this time, a command or a key for designating various combinations is prepared, and the mode selecting means 205 causes the right annular belt computing means 14A and the left annular belt computing means 14B to perform appropriate control It is even more convenient if you select.
[0045]
Next, a training method in which different operation modes are selected for the left and right annular belts will be described with respect to the trainee's legs, with the leg having a functional disorder being referred to as the affected leg and the unaffected side being referred to as the healthy leg.
[0046]
1) The stop mode is selected for the annular belt for the affected leg, and the speed control mode, the load control mode, or the drive assist mode is selected for the annular belt for the unaffected leg.
[0047]
In general, patients with dysfunction in one leg have less opportunity to use the leg because the affected side does not function well, and as a result, the healthy leg often weakens due to lack of exercise. With this training method, it is possible to exercise only the unaffected leg.
[0048]
When the deterioration is large even for the unaffected leg, this corresponds to Case 1 or Case 2. The speed control mode or the driving assistance mode is applied to such a trainee. In case 1, the speed control mode is applied, and when the speed target value is increased each time the training is repeated, the trainee gradually recovers muscle strength and can move the leg back and forth. It is thought to come. In case 2, the drive assist mode is applied.
[0049]
When the function of the unaffected side leg corresponds to Case 3, the load control mode is applied.
2) The stop mode is selected for the annular belt for the unaffected side leg, and the speed control mode, the load control mode, or the drive assist mode is selected for the annular belt for the affected side leg.
[0050]
By this method, only the affected leg can be trained at a speed or load according to the ability.
[0051]
A case where the affected leg has a great decline corresponds to Case 1 or Case 2. The speed control mode or the drive assist mode is mainly applied to such a trainee. In case 1, apply the constant speed method and increase the speed target value each time the training is repeated. As a result, the trainee gradually recovers muscle strength and can move the legs back and forth. It is thought to come. In case 2, the drive assist mode is applied.
[0052]
When the function of the affected leg is equivalent to Case 3, the load control mode is applied. However, when the load control mode is applied to the affected leg, the exercise may be shifted to training using both sides.
[0053]
3) Both the belts for the affected leg and the unaffected leg are in the load control mode, but the load of the affected leg is made smaller than that of the unaffected leg. This method is applied to Case 3 in which there is a difference in left and right leg strength but a kicking force.
[0054]
Since the burden on the affected leg is less than that on the unaffected leg, the trainee can walk with the speed of the affected leg equal to that of the unaffected leg. As a result, the right and left balance is improved, and it is possible to walk in a correct posture.
[0055]
As the affected leg recovers, the magnitude of the load approaches the unaffected leg. If the difference between the load on the affected leg and the load on the unaffected leg becomes small, it can be determined that the functions of the trainee's legs are equal on the left and right.
[0056]
4) Select the speed control mode for the annular belt for the unaffected leg, and select the drive assist mode or the load control mode for the annular belt for the affected leg. The function of the unaffected leg is close to that of a healthy person, and the function of the affected leg is applied to a trainee such as Case 2 or Case 3. The trainee is conscious of the speed of the annular belt for the affected leg to be the same as the speed of the annular belt for the unaffected leg, and performs walking training.
[0057]
5) The load control mode is selected for the annular belt for the unaffected leg, and the drive assist mode is selected for the annular belt for the affected leg. The function of the unaffected leg is close to that of a healthy person, and the function of the affected leg is applied to a trainee such as Case 2 or Case 3. The trainee is conscious of the speed of the annular belt for the affected leg to be the same as the speed of the annular belt for the unaffected leg, and performs walking training.
[0058]
6) The speed control mode is selected for both of the annular belts, but the walking exercise is performed with the speed of the annular belt for the affected leg set lower than that of the healthy leg. The function of the unaffected side leg is close to Case 3, and the function of the affected side leg is applied to a trainee such as Case 2.
[0059]
7) Walking training is performed using the annular belt for the affected leg in the drive assist mode and the annular belt for the unaffected leg in the speed control mode. If the difference in speed between the affected leg and the unaffected leg becomes small, it can be determined that the left and right legs of the trainee have equivalent functions. This method is applied to a trainee in which both the healthy leg and the affected leg are Case 2 but the affected leg is inferior.
[0060]
In addition to the above-described modes, a mode in which both the left and right annular belts 6A and 6B are stopped may be provided. This facilitates getting on and off the annular belt and various settings while the annular belt is on.
[0061]
Further, in addition to the above-mentioned modes, it is preferable to provide a mode in which the left and right annular belts or one of them can be stopped, and a training mode can be provided while manually adjusting the running speed. For example, the grip section 44 of the handle 42 in FIG. 1 is used as an operation section. That is, the grip unit 44 is provided with a detector for detecting the rotation angle, and when the trainee rotates the grip unit 44, the running speed of the annular belt is changed according to the rotation angle. In this case, the speed control may be performed by the calculating means 14 so as to achieve the target speed corresponding to the rotation angle. Can be trained while making fine adjustments. At this time, there is provided a selecting means for designating both the left and right, the right only or the left only for the annular belt for performing the speed adjustment. The unselected annular belt may be run in any of the above operation modes. Further, in order to prevent the trainee from rotating the grip portion 44 by mistake when the trainee loses his posture, at least one of the rear belt 46 and the waist belt 45 supporting the trainee on the support arm may be provided. . Further, a means for changing (adjusting) the sensitivity of a change in the running speed of the annular belt to the rotation angle of the grip portion 44 may be provided. The trainee does not feel inconvenience in the operability of the grip even when the speed range used is different. Such means can be easily configured using the setting input means 18 and the arithmetic means 14 or the database 17.
[0062]
Another embodiment of the walking surface device 2 will be described with reference to FIG.
A slide sheet 602 is provided on a table 601 instead of the free roller 9 used in FIG. The table 601 functions as a member that supports the annular belts 6A and 6B, and the sliding sheet 602 reduces frictional resistance when the annular belts 6A and 6B run. The sliding sheet 602 can also be configured by, for example, subjecting an iron table surface to Teflon processing.
[0063]
As described above, in a walking training apparatus including sidewalk means forming a sidewalk of a trainee, sidewalk means functioning as a walking surface that operates independently for each of the left and right legs of the trainee is provided. Are each independently
(1) One or more of displacement, speed, and acceleration of the sidewalk means are measured, and the sidewalk means is driven by a control law using the same to control the load characteristics of the sidewalk means as seen by the trainee. Method (load control method)
(2) Even if the trainee is not on the walking means, that is, even if there is no load, the load control method is applied after applying a driving force to assist the kicking to the extent that the sidewalk means moves at a constant speed. Method (drive assist method)
(3) Method of operating so that the speed of the sidewalk means becomes the set speed (speed control method)
(4) Method to fix sidewalk means so that it does not move (sidewalk fixing method)
By selecting an operation method from, walking training can be performed in a state that cannot be realized by walking on a normal road surface.
[0064]
This is particularly effective when training a trainee whose left or right leg is weaker than the other due to a stroke or the like.
[0065]
【The invention's effect】
The provision of the means for holding one of the left and right walking surfaces at a fixed position makes it possible to select a training mode for performing optimal training focusing on one leg.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram (external view) of a walking training device.
FIG. 2 is a top view of the walking surface device.
FIG. 3 is a cross-sectional view of the walking surface device of FIG.
FIG. 4 is a structural view of the support means as viewed from the side.
FIG. 5 is a diagram for mainly explaining the configuration of the control device 3;
FIG. 6 is a diagram illustrating another embodiment of the walking surface device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Walking training device 1, 2 ... Walking surface device, 3 ... Control device, 4 ... Support device, 6 ... Walking surface, 10 ... Motor, 11 ... Belt speed detection means, 12 ... Belt displacement detection means, 13 ... Belt acceleration Detecting means, 14 arithmetic means, 15 information preprocessing means, 16 information display means, 17 database, 18 setting input means, 19 signal bus, 42 handle, 44 grip section, 201 speed control means , 202: load control means, 203: stop control means, 204: switching means, 205: mode selection means, 601: table, 602: slip sheet.

Claims (5)

In a walking training device including a walking surface device having two left and right walking surfaces, a control device that independently controls travel of the walking surface, and a support device that supports a trainee riding on the walking surface, the control device includes: Means for keeping one of the walking surfaces in a fixed position, the support device comprising a handle for the trainee to grip and / or a rear belt or a waist belt for holding the trainee to the support device. A walking training device, characterized in that: In a walking training device including a walking surface device having two left and right walking surfaces, a control device that independently controls travel of the walking surface, and a support device that supports a trainee riding on the walking surface, Walking training, characterized in that left and right independent means for fixing one side are provided, and the support device includes a handle that can be grasped by a trainee, and / or a rear belt or a waist belt that holds the trainee on the support device. apparatus. A walking training device, comprising: a walking surface device having two left and right walking surfaces; a control device that independently controls travel of the walking surface; and a support device that supports a trainee riding on the walking surface. Comprises means for controlling one of the walking surfaces in a fixed position and allowing only the other walking surface to run, wherein the support device holds a handle that can be grasped by a trainee, and holds the trainee on the support device. A walking training device comprising at least one of a rear belt and a waist belt . In a walking training device including a walking surface device having two left and right walking surfaces, a control device for controlling running on the walking surface, and a support device for supporting a trainee riding on the walking surface, the control device includes a walking device. A first control means for detecting the state of the surface and controlling the running of the walking surface independently on the left and right; and a second controlling means for holding one of the walking surfaces at a fixed position and controlling only the other walking surface to be able to run. Control means, and selection means for selecting the first and second control means, wherein the support device includes a handle that can be grasped by a trainee and / or a rear belt or a waist belt that holds the trainee on the support device. walking training device characterized by comprising a transient. A walking training device, comprising: a walking surface device having two left and right walking surfaces; a control device that independently controls travel of the walking surface; and a support device that supports a trainee riding on the walking surface. Has a plurality of control modes, comprises a selection means for independently selecting the plurality of control modes for each of the left and right walking surfaces, the support device is a handle that can be grasped by the trainee, and the trainee to the support device A walking training device comprising at least one of a rear belt and a waist belt to be held .

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