JP5516176B2 - Signal transmitter / receiver - Google Patents

Description

  The present invention relates to a technical field of a walking assistance device that assists a user's walking, and more particularly to a technical field of a signal transmission / reception device attached to a human body.

  2. Description of the Related Art Conventionally, human body communication that performs communication by applying a weak electric field to a human body is known. For example, Patent Document 1 discloses a technique for performing human body communication using a transmitter and a receiver attached to a human body (arm). As shown in FIG. 1 of Patent Document 1 (FIG. 7 of the present application), the transmitter 14 includes a signal generator 16 and a pair of electrodes 18 and 20. The signal generator 16 generates a modulated signal that varies the voltage between the electrodes 18 and 20. The electrode (transmission electrode) 18 is closely capacitively coupled to the human body 10, and a displacement electric field is sent to the human body 10 by an electric field generated from the potential of the electrode. On the other hand, the receiver 22 includes a pair of electrodes 24 and 26 and a detector 28. The electrode (reception electrode) 24 is closely capacitively coupled to the human body 10, and a displacement electric field sent from the human body 10 is sent to the electrode 24. The electric field further flows through the detector 28 to the other electrode 26 that is capacitively coupled to the earth (ground) 11 and is returned to the transmitter 14 through the earth 11 to complete the path of the electric field. ing.

Japanese Patent No. 4074661

  The above-described human body communication can be applied in various fields. For example, a walking assist device used in the rehabilitation field of knee disease patients (for example, a knee joint motion assist device (Japanese Patent Application No. 2008) filed in the past by the present applicant). -231777)) is effective. The reason is as follows. When the operation of the walking assist device is performed by the wearer himself, it is necessary to start and stop the operation of the walking assist device with the operation unit mounted on the human body. However, in the rehabilitation walking state, the hand operated by the wearer often holds a parallel bar or a cane, and there is a problem that it is difficult to handle the operation unit in an emergency. On the other hand, it is also possible to connect the walking assistance device and the operation unit by wire (for example, communication cable) or wireless (for example, short-range wireless communication), and operate the walking assistance device from the outside. However, in this case, it is necessary for a monitor other than the wearer to constantly monitor the walking state of the wearer. However, there is a problem that the support of the wearer's body is given priority and the stop of the operation is delayed. In addition, when the walking assist device and the operation unit are connected by a communication cable, there is a problem that the cable interferes with walking, and when the walking assist device and the operation unit are connected wirelessly, in a rehabilitation room that is a medical site. There is a problem that the use of is limited.

  If human body communication is applied to a walking assist device, it is considered that the above problem can be solved. For example, a switch for operation is provided on a bar-shaped tool used for walking assistance, and when the wearer wearing the walking assist device touches the bar-shaped tool, communication such as the start of operation of the walking assist device is performed, and the wearer A walking assistance device using human body communication in which the operation of the walking assistance device is interrupted by releasing the tool or using another switch is conceivable.

  However, when a conventional transmitter for human body communication is mounted on a bar-shaped tool or the like, a patient who is equipped with a walking assist device may walk on the bar-shaped tool as an auxiliary means, so that the entire transmitter can be clamped by hand. Yes, it is assumed that the electrodes of the transmitter are completely covered and communication is impossible.

  Therefore, the present invention has been made in view of such a point, and an object thereof is to provide a signal transmission / reception device for a walking assist device that enables stable operation with an inexpensive and simple configuration.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a link mechanism unit for bending and extending a user's knee joint, a drive motor for operating the link mechanism unit, and a walking pattern stored in advance. A signal transmission / reception device for transmitting / receiving a signal to control a walking assist device comprising: a rotation control means for controlling the rotation of the drive motor based on the transmission electrode; A signal transmitting means for transmitting a signal when the body is in contact with the human body, a receiving electrode capable of contacting the human body, and the signal transmitted from the signal transmitting means via the receiving electrode. And a signal receiving means for receiving the signal, wherein the transmitting electrode and the signal transmitting means are separated by a predetermined distance or more.

  According to a second aspect of the present invention, in the signal transmitting / receiving apparatus according to the first aspect, in the signal transmitting / receiving apparatus according to the first aspect, the signal transmitting means of the transmitting unit modulates and transmits the signal. The receiving unit includes a demodulator that demodulates the signal transmitted from the modulator through the transmission electrode by the reception electrode.

  According to a third aspect of the present invention, in the signal transmission / reception device according to the first or second aspect, the signal transmission / reception device starts an operation of the walking assistance device when the transmission electrode contacts a human body, and the transmission electrode When the user moves away from the human body, the operation of the walking assistance device is stopped.

The invention according to claim 4 is the signal transmitting / receiving apparatus according to any one of claims 1 to 3,
The signal transmission / reception apparatus according to claim 1, wherein the transmission electrode has a sheet shape, and the signal transmission unit is provided with an adhesive member to be attached to another tool.

  The invention according to claim 5 is the signal transmission / reception device according to any one of claims 1 to 4, wherein the transmission electrode and the signal transmission means are used by the user who uses the walking assist device. It is provided in an auxiliary bar-shaped member.

  According to the present invention, when a wearable walking assist robot that is a walking assist device for rehabilitation is used, by gripping or touching an electrode portion provided in a rod-shaped tool that is a rod-shaped member for assisting walking. The human body communication is established without the user being aware of the human body communication, and the user himself / herself can start the operation of the walking assist robot. Further, when the user releases his / her hand from the electrode part of the bar-shaped tool, the user himself / herself can stop the operation of the walking assist robot. In addition, the electrode part is wrapped around an existing walking aid rod-shaped tool, the transmitter other than the transmitter electrode is attached to the other part of the rod-shaped tool, and the receiver is fixed to the user's body. Since communication is possible, the overall configuration of the apparatus can be reduced.

It is a figure which shows the example of a schematic structure of the signal transmission / reception apparatus which concerns on this embodiment. (A) is an example of the conceptual diagram which shows the mechanism of the ON state of the signal transmission / reception based on this embodiment. (B) is an example of a conceptual diagram showing a mechanism of an OFF state of signal transmission and reception according to the present embodiment. (A) is another example of the conceptual diagram which shows the mechanism of the ON state of the signal transmission / reception based on this embodiment. (B) is another example of the conceptual diagram which shows the mechanism of the ON state of the signal transmission / reception based on this embodiment. (A) is a figure which shows an example of the signal transmission / reception apparatus which concerns on this embodiment. (B) is a figure which shows an example which mounted | wore the rod-shaped member for walk assistance with the signal transmission / reception apparatus which concerns on this embodiment. It is a figure which shows an example which mounted | wore the rod-shaped member for walk assistance with the signal transmission / reception apparatus which concerns on this embodiment. It is a figure which shows an example of the walk assistance apparatus with which a human body is mounted | worn, and a signal transmission / reception apparatus. It is a figure shown by FIG. 1 of patent document 1. FIG.

  2. Description of the Related Art In recent years, walking assistance devices that can make a walking with a user with a foot disorder closer to a normal walking have been provided. Since such a walking assist device forcibly moves the user's foot in an appropriate walking pattern, the walking state of a disabled foot can be brought close to a normal walking state while making the user aware of the appropriate walking pattern. . A signal transmission / reception device used as a switch for starting and stopping the driving of the walking assist device will be described in detail below.

  FIG. 1 is a diagram illustrating a schematic configuration example of a signal transmission / reception apparatus according to the present embodiment.

  As shown in FIG. 1, the signal transmission / reception apparatus S according to this embodiment includes a transmission unit 1 and a reception unit 2. The transmission electrode 11 of the transmission unit 1 is attached to, for example, a bar-shaped tool that is a bar-shaped member for assisting walking, and is held by a pedestrian's hand. Further, the modulator 12 and the transmission-side data processing unit 13 of the transmission unit 1 are attached to a bar-shaped tool that is a bar-shaped member for assisting walking, for example, at a position away from the transmission electrode 11. The receiving unit 2 is attached to a predetermined position such as the waist of the pedestrian's body.

  The transmission electrode 11, the modulator 12, and the transmission-side data processing unit 13 are mounted on the rod-shaped tool apart so as not to be entirely covered with one hand of a pedestrian.

  The transmission unit 1 includes a transmission electrode 11, a modulator 12 as a signal transmission unit, a transmission side data processing unit 13, and a battery (not shown).

  The transmission electrode 11 can contact the human body. For example, when the person holds the transmission electrode 11 with his / her hand, the transmission electrode 11 is brought into contact with the human body. The contact of the transmission electrode 11 with the human body is not limited to a person holding the transmission electrode 11 by hand, and a part of the human body may be in contact with the transmission electrode 11. Further, an insulator such as clothes, a handkerchief, or a towel may be present between the transmission electrode 11 and the human body.

  The transmission-side data processing unit 13 includes a CPU and a nonvolatile memory (stores data and programs) and outputs a digital signal to be transmitted to the reception unit 2 to the modulator 12.

  The modulator 12 modulates the digital signal from the transmission side data processing unit 13 by a predetermined modulation method (modulation method using ASK (Amplitude shift keying)), and the transmission electrode 11 is in contact with the human body. In addition, the modulated signal is transmitted from the transmission electrode 11 to the receiving unit 2 via the user wearing the walking assist device and the electrode surface of the reception electrode 211.

  As an example of the specification of the transmitter 1, the carrier frequency may be 3 MHz and the modulation method may be 100% ASK. As an example of the transmission code, a transmission baud rate of 9600 bps, a data length of 8 bits, no parity, and a stop bit of 1 bit may be used.

  The specification of the transmitter and the specification of the transmission code can be arbitrarily determined.

  The transmission electrode 11 is in contact with a part of a human body such as a hand, or the transmission electrode 11 is in contact with a part of a human body such as a hand and can be operated by a user or an assistant wearing a walking assist device. Continuous transmission may be performed by turning on other switches that do not.

  Moreover, the transmission part 1 stops continuous transmission, when the transmission electrode 11 leaves | separates from some human bodies, such as a user's hand with which the walk assistance apparatus was mounted | worn. Or you may stop the continuous transmission of the transmission part 1 by operating the other switch which is not shown in figure which the user with whom the walk assistance apparatus was equipped, or an assistant can operate, and a switch will be in an OFF state.

  The battery supplies power to the modulator 12 and the transmission side data processing unit 13.

  As an example of the specification of the battery, the power supply voltage supplied from the battery may be 3V. In this case, the output voltage amplitude at the end of the transmission electrode 11 may be 3Vpp pulse.

  The receiving unit 2 includes a receiving electrode 211, a coil sensor 212, a demodulator 22, a receiving side data processing unit 23, and a battery (not shown).

  The receiving electrode 211 is configured such that the receiving electrode surface is directed to the human body side. For example, when the receiving unit 2 is attached to a predetermined position (for example, on an arm or a waist) of the human body, the receiving electrode 211 is brought into contact with the human body via clothes. The coil sensor 212 detects a change in the electric field received by the reception electrode 211 and outputs a current change induced by electromagnetic induction to the demodulator 22.

  The demodulator 22 demodulates the modulation signal that is a current change received by the coil sensor 212 and outputs the demodulated signal to the reception-side data processing unit 23.

  The reception-side data processing unit 23 includes a CPU, a nonvolatile memory (stores data and programs), etc., and receives a signal demodulated by the demodulator 22 and executes information processing according to the signal. For example, a start signal for starting the operation of the walking assistance device is generated, and the walking assistance device starts driving.

  The battery supplies power to the demodulator 22 and the reception side data processing unit 23.

  FIG. 2 is a conceptual diagram showing a signal transmission / reception mechanism according to the present embodiment. FIG. 2A shows an example in which the transmission electrode 11 of the transmission unit 1 is held by a hand and is in contact with a human body. FIG. 2B shows the transmission electrode 11 of the transmission unit 1 separated from the human body. This is an example.

  In the case of FIG. 2A, the signal path through the human body H is completed when the transmission electrode 11 of the transmission unit 1 is held by the hand and comes into contact with the human body H. Signal transmission / reception (hereinafter referred to as “body area communication”) is performed using the changed electric field, and the body area communication is turned on. When the body area communication is ON, a user wearing a wearable walking assist robot, which is a walking assist device for rehabilitation, turns on a switch (not shown) from the transmitter 1 for the walking assist robot. A control signal is transmitted, the walking assist robot operates, and the user can receive rehabilitation.

  In addition, without providing a switch (not shown), if body area communication is turned on, a control signal for operating the walking assist robot may be transmitted.

  2A, the capacitance C1 between the ground of the transmission unit 1 and the ground G, the capacitance C2 between the human body H and the ground G, and the capacitance C3 between the ground of the reception unit 2 and the ground G. However, since this is a conventional technique, details are omitted in this embodiment.

  In the case of FIG. 2B, when the transmission electrode 11 of the transmission unit 1 is separated from the human body, the signal path is cut and the body area communication is turned off. That is, since the signal path from the transmission electrode 11 to the reception electrode 212 is cut, the walking assist robot stops operating.

  When the body area communication is turned off, the receiving-side data processing unit 23 stops transmitting the signal from the transmitting-side data processing unit 13, and therefore detects that the signal is not transmitted and stops the operation of the walking assist robot. Let

  According to the signal transmitting / receiving apparatus S configured as described above, since the signal is transmitted / received by the change of the electric field through the human body, the contact between the transmitting electrode 11 and the human body in the path is eliminated. The operation of the walking assist device can be easily stopped.

  FIG. 3 is another conceptual diagram showing a signal transmission / reception mechanism according to the present embodiment. FIG. 3A shows an example in which the transmitting electrode 11 of the transmitting unit 1 is in contact with a part of a human body instead of being held by a hand, and body area communication is in an ON state. When the body area communication is ON, a control signal for operating a wearable walking assist robot that is a walking assist device for rehabilitation is transmitted.

  FIG. 3B shows an example in which the entire transmission unit 1 including the transmission electrode 11 is grasped by the hand and the body area communication is turned off. As shown in FIG. 3B, when the entire transmitter 1 including the transmitter electrode 11 is grasped by the hand, the capacitance between the ground and the ground G of the transmitter 1 shown in FIG. Since C1 does not occur, the capacitor C1, the capacitor C2 between the human body H and the ground G, and the capacitor C3 between the ground and the ground G of the receiving unit 2 cannot be balanced, and body area communication cannot be performed. (Body area communication is OFF).

  Therefore, in this embodiment, as shown in FIG. 2, the transmission unit 1 and the transmission electrode 11 are configured to be separated so that the capacitor C1 is shaped between the ground of the transmission unit 1 and the ground G.

(Example)
Next, with reference to FIG. 4, the case where the signal transmission / reception apparatus which concerns on this invention is mounted in the rod-shaped tool 6 used for walking assistance is demonstrated.

  In FIG. 4A, the transmission unit 1 and the transmission electrode 11 are separated, and the transmission unit 1 and the transmission electrode 11 are connected by a wire 4 such as a cable that can transmit and receive an electrical signal.

  The transmission electrode 11 has a sheet shape so as to be wound around the rod-shaped tool 6. In addition, the sheet-like transmission electrode 11 may be packaged with a packaging member such as a resin, and an adhesive member such as Velcro (registered trademark) is pasted on the back surface of the sheet-like transmission electrode 11. Is wound around the rod-shaped tool 6 and can be fixed.

  An adhesive member 5 such as a sheet-like magic tape is connected to the transmission unit 1 connected to the wire rod 4 such as a cable, and the adhesive member 5 such as a sheet-like magic tape is wound around the rod-shaped tool 6 to transmit Similar to the electrode 11, the transmitter 1 can be fixed to the rod-shaped tool 6.

  FIG. 4B shows a state in which the transmitter 1 and the transmitter electrode 11 that are separated and connected to the wire 4 are attached to the bar-shaped tool 6.

  In addition, the adhesive member 5 stuck on the back surface of the sheet-like transmission electrode 11 is not limited to the magic tape, and any member fixed by being wound around the rod-shaped tool 6 can be used.

  FIG. 5 shows a state in which the user who rehabilitates the transmission electrode 11 fixed by being wound around the rod-shaped tool 6 shown in FIG. 4B is held by the hand, and the transmission unit 1 and the human body (user ), Indicating that the body area communication configured by the receiving unit 2 is in the ON state.

  A rehabilitating user wears a wearable walking assist robot, which is a walking assist device for rehabilitation, starts rehabilitation by driving the walking assist robot with body area communication ON, and the user transmits electrodes from the hand. By releasing 11, the body area communication is turned off and the walking assist robot stops.

(Example)
Next, with reference to FIG. 6, the Example at the time of applying the signal transmission / reception apparatus which concerns on this invention to a walking assistance apparatus is demonstrated.

  FIG. 6 is a diagram illustrating an example of a walking assist robot that is a walking assist device attached to a human body.

  As shown in FIG. 6, the walking assistance device J includes an operation unit OP, a drive mechanism K, a control unit CO, various sensors (not shown), and the like.

  The operation unit OP includes the transmission unit 1 and the like excluding the transmission electrode 11 described above. In addition, you may provide the display part which displays information on the operation part OP. In addition, each component of the operation unit OP may be mounted in the same housing, for example.

  The operation switch SW such as a toggle switch may be provided at the tip of the bar-shaped tool 6 or the operation unit OP.

  The reason why the transmission electrode 11 and the transmission unit 1 excluding the transmission electrode 11 are separated is that the transmission unit 1 including the transmission electrode 11 is gripped by a human hand and the entire transmission unit 1 is covered by the human hand. This is because the signal is not propagated from the transmission electrode 11 to the reception electrode 211.

  The transmission electrode 11, the modulator 12, and the transmission-side data processing unit 13 are mounted on the rod-shaped tool 6 so as to be separated from each other so as not to be entirely covered with one hand of a pedestrian.

  The transmission electrode 11 is brought into contact with the human body by being held by a person. The transmission electrode 11 may be in the form of a sheet with an insulating coating made of resin or the like. In addition, the operation part OP may be prepared in a grip part such as a cane, a stick, or an umbrella, for example. Further, the transmission electrode 11 may be wound around a position where a human hand can easily touch a cane or a parallel bar.

  The operation switch SW is electrically connected to the transmission side data processing unit 13 of the transmission unit 1 with a cable, and toggles between on and off each time it is pressed by a person.

  Then, the transmission side data processing unit 13 of the transmission unit 1 outputs a drive start signal (for example, a digital signal having a data length of 8 bits) to the modulator 12 while detecting the ON state of the operation switch SW (continuous). And output). As described above, when the transmission electrode 11 is in contact with the human body, the modulator 12 modulates the drive start signal from the transmission-side data processing unit 13 and transmits the modulation signal via the metal surface of the transmission electrode 11. Transmit to the receiver 2. When the transmission electrode 11 of the transmission unit 1 is separated from the human body, the modulated signal is not transmitted from the modulator 12 as described above.

  The drive mechanism K is to flex and extend the knee joints of both human legs. The drive mechanism K includes an upper attachment portion 101 disposed on the patient's upper leg, a knee connection portion 102 disposed on the patient's knee, a lower attachment portion 103 disposed on the patient's lower leg, Is provided. The waist side end portion of the upper attachment portion 101 is rotatably connected to a waist portion connecting portion (not shown). Further, the knee-side end portion of the upper attachment portion 101 and the knee-side end portion of the lower attachment portion 103 are rotatably connected by a knee connection portion 102.

  The knee connection unit 102 includes a drive motor, a gear group, and the like, and the rotation operation in the knee connection unit 102 is controlled by the control unit CO.

The control unit CO is provided with the receiving unit 2 described above, and is electrically connected to the drive mechanism K and various sensors with cables. A display unit that displays information on the control unit CO may be provided. Each component of the control unit CO is mounted in, for example, the same housing.

  The control unit CO is attached and fixed (for example, by a belt or the like) to the waist or upper limbs of the human body. In addition, the reception electrode 211 of the reception unit 2 included in the control unit CO is arranged so that the surface of the reception electrode 211 is directed to the human body, for example, with a substrate pattern. When the receiving electrode 211 tends to be separated from the human body, for example, if a conductive sheet or fiber is added to the back surface of the belt, the sensitivity increases. Further, the sensitivity can be increased by disposing the control unit CO on the person's stomach side and shortening the distance to the transmission electrode 11.

  In the control unit CO, the reception side data processing unit 23 of the reception unit 2 inputs a drive start signal obtained by the demodulator 23 demodulating the electric field change received by the reception electrode 211 and detected by the coil sensor 212. Meanwhile, the drive mechanism K is driven and controlled by outputting a drive control signal to the drive mechanism K. For example, walking pattern data of a person wearing the walking assistance device J is stored in a non-volatile memory (for example, a flash memory) provided in the reception-side data processing unit 23 in the control unit CO. And the receiving side data processing part 23 acquires the said walk pattern data from a non-volatile memory, and drives and controls the drive mechanism K using the said walk pattern data. More specifically, when receiving the driving start signal from the demodulator 23, the receiving-side data processing unit 23 controls driving of the driving motor such as the rotational direction and rotational speed of the driving motor based on the walking pattern data. Generate a drive signal (for example, calculate the angular velocity of the knee joint by differentiating the bending angle at each point in the walking pattern shown in the walking pattern data, and generate a driving signal that rotates the drive motor at the angular velocity), and A drive signal is output to the drive motor in the knee joint 102. As a result, the drive mechanism K is driven, and the person can walk while being assisted by the drive mechanism K. Here, the walking pattern data is data based on a time-series change in the flexion angle of the knee joint. Further, since the walking pattern data is usually for one step, the driving signal for one step is repeatedly output to the driving motor.

  Various sensors include a knee joint angle sensor that detects the flexion angle of the human knee joint, a hip joint angle sensor that detects the flexion angle of the human hip joint, a human body tilt sensor that detects the tilt of the human body, A thigh pressure sensor that detects pressure, a shin pressure sensor that detects pressure on the human shin, and a sole pressure sensor that detects pressure on the human foot. Data detected by these sensors is output to the control unit CO and written to the nonvolatile memory. Based on the data thus written, the rehabilitation effect of the person is confirmed, the walking pattern data is corrected and used by the control unit CO.

  In addition, according to the said Example, although the transmission electrode 11, the transmission part 1, and the receiving part 2 were provided in the outer side of the rod-shaped tool 6, it can also comprise so that it may be provided in the inner side of the rod-shaped tool 6 (FIG. Not shown). In this case, the rod-shaped tool 6 incorporating the transmission electrode 11, the transmission unit 1, and the reception unit 2 may require authorization as a walking assist device.

  The bar-shaped tool 6 may be a parallel bar, both canes, one cane, a grip, or the like.

  As described above, according to the above-described embodiment, since the electric field change is transmitted and received through the human body, interference with the walking assist device J is reduced, and more stable and safe operation is realized. can do. Moreover, the wearer himself / herself of the walking assistance device J can operate even in the rehabilitation walking state. Moreover, the wearer of the walking assist device J can shift to the stop or stop operation of the walking assist device J only by releasing the transmission electrode 11 when, for example, a fall sign appears. Moreover, since it is not necessary to connect between the operation part OP and the control part CO with a cable, it does not interfere with walking.

  In the above embodiment, the drive start signal is transmitted from the operation unit OP to the control unit CO by body area communication. However, other control signals are transmitted from the operation unit OP to the control unit CO by body area communication. It can also be configured as follows.

Further, in the above-described embodiment, the example in which the transmission unit 1 is incorporated in the operation unit OP and the reception unit 2 is incorporated in the control unit CO and signal transmission / reception is performed between the operation unit OP and the control unit CO has been described. As an example, for example, the above-described sensor is incorporated in the transmission unit 1 (or the transmission unit 1 is arranged in the vicinity of the sensor) and the reception unit 2 is incorporated in the control unit CO. You may comprise so that it may transmit to the control part CO from the transmission part 1 by communication.

  Furthermore, in the above-described embodiment, an example in which the signal transmission / reception device according to the present invention is applied to a walking assistance device has been described. It can be applied to a vehicle such as a single person who rides and operates.

DESCRIPTION OF SYMBOLS 1 Transmission part 2 Reception part 11 Transmission electrode 12 Modulator 13 Transmission side data processing part 22 Demodulator 23 Reception side data processing part 211 Reception electrode S Signal transmission / reception apparatus OP Operation part K Drive mechanism CO Control part J Walking assistance apparatus

Claims (5)

A link mechanism for bending and extending a user's knee joint; a drive motor for operating the link mechanism; and a rotation control means for controlling the rotation of the drive motor based on a pre-stored walking pattern. A signal transmitting / receiving device for transmitting / receiving a signal in order to control the walking assist device provided,
A transmission unit comprising: a transmission electrode capable of contacting a human body; and a signal transmission unit configured to transmit a signal when the transmission electrode is in contact with the human body;
A receiving unit comprising: a receiving electrode that can contact the human body; and a signal receiving unit that receives the signal transmitted from the signal transmitting unit via the receiving electrode;
With
The signal transmitting / receiving apparatus, wherein the transmitting electrode and the signal transmitting means are separated by a predetermined distance or more. The signal transmitting / receiving apparatus according to claim 1,
The signal transmission means of the transmission unit has a modulator that modulates and transmits the signal,
The signal transmission / reception apparatus, wherein the reception unit includes a demodulator that demodulates the signal transmitted from the modulator through the transmission electrode by the reception electrode. The signal transmitting / receiving apparatus according to claim 1 or 2,
The signal transmission / reception device starts the operation of the walking assistance device when the transmission electrode contacts the human body, and stops the operation of the walking assistance device when the transmission electrode moves away from the human body. The signal transmitting / receiving apparatus according to any one of claims 1 to 3,
The signal transmission / reception apparatus according to claim 1, wherein the transmission electrode has a sheet shape, and the signal transmission unit is provided with an adhesive member to be attached to another tool. The signal transmitting / receiving apparatus according to any one of claims 1 to 4,
The signal transmission / reception device, wherein the transmission electrode and the signal transmission means are provided on a walking assist rod member used by the user using the walking assistance device.

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