JP5633779B2 - Self-supporting walking support device - Google Patents

Description

The present invention relates to a self-supporting walking support apparatus that assists a person being assisted in learning and mastering a walking method using a walking stick.

Currently, an aging society is rapidly progressing in Japan (aging rate of over 20%), and the improvement of the quality of life of the elderly and the active participation of the elderly are desired. At this time, for active social participation, even elderly people with reduced physical function (especially lower limb motor function) can walk independently without using a wheelchair. Preferably there is. And with walking aids, there are a considerable number of elderly people and hemiplegic patients who can walk, so when it becomes easy to learn and learn how to use walking aids correctly, Social participation of paralyzed patients will be greatly promoted.

Walking aids that assist in daily life can be broadly classified into cane type and walking car type. Here, the pedestrian-car type has the advantage that it does not require long hours of training to learn how to use it, but it is inconvenient to use easily in daily life because it is large and heavy. There is. On the other hand, the cane type has the advantage of being small, light and highly convenient, but has a problem that training is required to learn and master its usage. For example, patients with Parkinson's disease, cerebellar disease, etc. have difficulty walking because they cannot easily take the first step. There is a need. Therefore, a walking aid (multi-legged cane) has been proposed in which light is projected and displayed in front of walking so that the first step can be easily taken with the light as a target (see, for example, Patent Document 1). .

JP 2005-312736 A

However, although the walking aid of Patent Document 1 is effective when a person who has learned how to use a cane is further familiar with the method of using a cane, for beginners who want to learn how to use a cane, Multi-legged cane (4 support points with walking surface), so stability (function to keep balance) is high, but it becomes heavy to move the tip of the cane, and burden on hands, arms and shoulders There is a problem of growing. If the walking aid is a single-legged cane, the weight is reduced. However, the support is performed at one point on the walking surface, so that the stability is lowered and the safety for beginners is lowered. . Furthermore, in the case of a beginner, it is important to learn to repeat a series of actions of moving the cane tip, stepping out the affected leg, and then moving the healthy leg with a constant walking rhythm. For this reason, even if it uses the walking aid of patent document 1, in the case of a beginner, there is a problem that one-on-one guidance by an expert (walking training instructor) is required for a certain period from the start of walking training. Arise.

The present invention has been made in view of such circumstances, and it is a self-supporting walking that can efficiently assist a learner to acquire and master a walking method using a walking stick and can also increase the motivation of training. An object is to provide a support device.

A self-supporting walking support apparatus according to the present invention that meets the above-described object comprises a self-propelled carriage provided with a support member standing upright and a control unit for the self-propelled carriage provided on the support member. A self-supporting walking support device in which the self-propelled carriage moves on the floor surface by operation of the operation unit,
1) The self-propelled carriage is provided with a teaching unit including an auditory guidance unit and / or a visual guidance unit that conveys stepping position information of a person who operates the operation unit by voice and / or light. that it is,
2) In the self-propelled carriage, the three driving spheres respectively provided at the apex positions of the equilateral triangle in plan view and the driving spheres in contact with and in contact with the adjacent driving spheres are simultaneously the same. An omnidirectional movement mechanism having three driving means for rotationally driving in a direction, and being movable in all directions on the floor surface by operation of the operation unit;
3) The operation unit includes a force sensor that detects front and rear and left and right tilt directions of the support member and a rotation direction of the support member; and
4) Around the self-propelled carriage, a base side is attached to a frame of the self-propelled carriage, and an arm member disposed with the front side facing the outside of the self-propelled carriage is provided on the front side of the arm member. A plurality of fall prevention stoppers having auxiliary wheels attached to the attached member with a gap from the floor surface are provided.
Here, when the stepped-in position information of the person being assisted is conveyed by voice, the auditory guidance means (for example , a speaker) is used. For example , when the projector) conveys the stepping position information of the person being assisted by voice or light, an auditory guidance unit and a visual guidance unit are used.

In the walking assistance device of self-supporting according to the present invention, the operation unit includes a tilting direction of the front and rear and right and left of the support member, Ru provided with a force sensor for detecting the rotational direction of the support member. In here, the force sensor, for example, can be attached to the proximal end of the support member, the support member via a force sensor, are erected on the top of the self-propelled carriage. Further, since the direction of the force by which the person being assisted operated the operation unit is known by the force sensor, by inputting the data of the direction of this force into the teaching unit and comparing it with the stepping position information of the person being assisted, It can be determined whether or not the operation of the operation unit by the person being assisted is appropriate.

In the self-supporting walking support apparatus according to the present invention, the self-propelled carriage is provided with an optical sensor (also referred to as a range sensor) that detects a leg position and a foot position on the floor surface of the person being assisted. It is preferable.
Here, by inputting the output of the optical sensor to the teaching unit and comparing it with the stepped position information of the person being assisted, the walking movement of the person being assisted can be determined, and the result is the stepped position of the person being assisted. It can be reflected in information.

In the self-supporting walking support apparatus according to the present invention, the self-propelled carriage includes the person being assisted and the self-propelled carriage obtained from the leg position and the foot position of the person being assisted on the floor surface. It is preferable that distance maintaining means for maintaining the separation distance in a preset range is provided.

In the self-supporting walking support device according to the present invention, it is preferable that the support member is provided with an operation grip whose height can be adjusted.
The operation grip is preferably provided with a grip sensor, and the driving state of the self-supporting walking assist device is switched by an output from the grip sensor.
Here, the switching of the driving state means that the self-propelled carriage is switched from the drivable state (waiting for operation) to the primary stop state or from the primary stop state to the drivable state. Switching from a state where position information can be output to a primary stop state, or from a primary stop state to a state where it can be output.

In the self-supporting walking support apparatus according to the present invention, the support member may be provided with an auxiliary grip that can be moved up and down separately from the operation grip.
Here, the auxiliary grip is provided closer to the person being assisted than the operation grip, and the height position of the auxiliary grip is lower than the height position of the operation grip.

In the self-supporting walking support apparatus according to the present invention, it is preferable that an obstacle detection sensor for detecting an obstacle ahead of the self-propelled carriage is provided on the front side of the self-propelled carriage.

In the self-supporting walking support apparatus according to the present invention, the operation unit inputs input means for inputting operation data as a basis of the stepping position information, and information output for outputting the stepping position information created from the operation data. Means are preferably provided.

The self-supporting walking support apparatus according to the present invention preferably includes pressure distribution detection means for measuring a pressure distribution on the sole of the person being assisted on the floor surface.
Here, the pressure distribution detecting means is, for example, a strain gauge that is attached to the shoe sole used by the person being assisted and detects the pressure on the sole, and a strain measuring instrument (non-assistant) that amplifies and transmits a strain signal from the strain gauge. Can be carried during walking training), and can be configured by a pressure distribution calculator (installed in the teaching unit) that receives a strain signal and obtains the pressure distribution of the sole.

In the self-supporting walking support apparatus according to the present invention, the self-propelled carriage on which the supporting member that is a support for walking is moved on the floor surface by the operation of the operation unit. Walking training can be performed while keeping In the walking training, the position information necessary for the person to be stepped on by the auditory guidance means and / or visual guidance means of the teaching unit is transmitted by voice and / or light, respectively. Gait training (for example, leg movement, walking rhythm, etc.) can be effectively assisted, and motivation for walking training can be increased.

In the walking assistance device of self-supporting according to the present invention, the self-propelled carriage, omnidirectional moving mechanism is incorporated, by operating the operation unit, since the self-propelled carriage is movable on the floor surface in all directions, the The caregiver does not need to push or lift the self-supporting walking support device, reducing the burden on the body (for example, hands, arms, and shoulders) when the caretaker operates the self-supporting walking support device It can also reduce fatigue during walking training.

In the walking assistance device of self-supporting according to the present invention, the operation section includes a tilting direction of the front and rear and left and right support members, since comprise a force sensor for detecting the rotational direction of the support member, to be caregiver operating unit The self-propelled carriage can be moved in the direction designated by the person being assisted by detecting the operating force.

In the self-supporting walking support device according to the present invention, when the self-propelled carriage is provided with optical sensors that respectively detect the leg position and the foot position on the floor of the person being assisted, the movement of the person being assisted is restricted. The walking motion of the person being assisted can be detected without doing so.

In the self-supporting walking support device according to the present invention, the distance between the person being assisted and the self-propelled carriage determined from the leg position and the foot position on the floor of the person being assisted is set in advance on the self-propelled trolley. In the case where the distance maintaining means for keeping the range is provided, the self-propelled carriage can move via the distance maintaining means independently of the operation through the operation unit of the person being assisted. Accordingly, when the caregiver performs an unexpected walking motion, the self-propelled carriage moves actively so that the separation distance is maintained, and the risk of the caregiver falling is eliminated.

In the self-supporting walking support device according to the present invention, when the support member is provided with an operation grip whose height can be adjusted, the height position of the operation grip is adjusted to the height of the person being assisted as the operator. Can be set. This facilitates the operation of the self-supporting walking support device.

In the self-supporting walking support device according to the present invention, when a grip sensor is provided in the operation grip and the self-supporting walking support device is turned on and off (switching of driving state) by an output from the grip sensor, It is possible to easily turn on / off the operation of the walking assist device.

In the self-supporting walking support apparatus according to the present invention, when the supporting member is provided with an auxiliary grip that can be lifted and lowered separately from the operation grip, the auxiliary grip can be lowered to lower the assisting person's squatting action. It is possible to assist, and by raising the assist grip, it is possible to assist the person being lifted up.

In the self-supporting walking support device according to the present invention, when an obstacle detection sensor for detecting an obstacle ahead of the self-propelled carriage is provided on the front side of the self-propelled carriage, an obstacle exists in the person being assisted. In addition, the self-supporting walking support device can be stopped when the self-supporting walking support device approaches the obstacle excessively. Thereby, the safety of the person being assisted during walking training can be ensured.

In the walking assistance device of self-supporting according to the present invention, the periphery of the self-propelled carriage, a plurality of anti-tip stopper is provided, also freestanding walking assistance device is in contact with the object, to increase the tilting Can be prevented. Furthermore, even if the person being assisted does not move, the self-supporting walking support device is prevented from being largely inclined together with the person being assisted, and the person being assisted can be prevented from falling. Thereby, the safety of the person being assisted during walking training can be ensured.

In the self-supporting walking support device according to the present invention, the operation unit is provided with input means for inputting operation data that is the basis of the stepping position information, and information output means for outputting the stepping position information created from the operation data. In this case, the operation data can be easily input, and the stepping position information can be easily corrected according to the operation status of the person being assisted.

In the self-supporting walking support device according to the present invention, when having pressure distribution detection means for measuring the pressure distribution of the sole of the person being assisted on the floor surface, the walking timing of the person being assisted during walking training, The stepping motion can be accurately detected.

1 is a perspective view of a self-supporting walking support apparatus according to an embodiment of the present invention. It is a partially cutaway side view of the self-supporting walking support device. It is a block diagram of the self-supporting walking support device. It is a bottom view of the omnidirectional movement mechanism integrated in the self-propelled carriage of the self-supporting walking support device. It is a partially cutaway front view of the omnidirectional movement mechanism incorporated in the self-propelled carriage of the self-supporting walking support device. It is explanatory drawing of the pressure distribution detection means which measures the pressure distribution of the foot of the person being assisted. It is a flowchart which shows the operation | movement flow of the self-supporting walking assistance apparatus which concerns on one embodiment of this invention. (A) is a flowchart showing a teaching flow of the self-supporting walking support device, and (B) to (E) are explanatory diagrams showing movement of the foot position of the walking stick and the person being assisted.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 1 to 3, a self-supporting walking support device (hereinafter also referred to as a walking support device) 10 according to an embodiment of the present invention is provided with a support member 11 that serves as a support during walking. The self-propelled carriage 12 and the operation section 13 of the self-propelled carriage 12 provided on the support member 11 are provided, and the self-propelled carriage 12 moves on the floor surface 14 by the operation of the operation section 13. Then, the self-propelled carriage 12 is communicated by light (for example, an image) and a speaker 15, which is an example of an auditory guidance means that conveys the stepping position information of the foot that the person who operates the operation unit 13 steps when walking. A teaching unit 17 including a projector 16 which is an example of visual guidance means is provided. Details will be described below.

As shown in FIGS. 4 and 5, the omnidirectional movement mechanism 18 is incorporated in the self-propelled carriage 12, and the self-propelled carriage 12 can move on the floor 14 in all directions by the operation of the operation unit 13. It has become. Here, the omnidirectional moving mechanism 18 includes three driving spheres 19, 20, and 21 that are respectively positioned at vertex positions P 1, P 2, and P 3 of an equilateral triangle in plan view, and driving spheres that are arranged adjacent to each other. 19, driving sphere 20, driving sphere 20, driving sphere 21, and driving sphere 21 and driving sphere 19 are simultaneously driven in the same direction by three driving means 22, 23, and 24, respectively. Yes. The driving means 22, 23, and 24 are controlled in their power (moving direction, moving distance, and moving speed) by the control unit 25 (see FIG. 3).

Here, the self-propelled carriage 12 is attached to a hexagonal cylindrical frame 26 that accommodates three driving spheres 19, 20, 21 and three driving means 22, 23, 24 inside, and an upper portion of the frame 26. And a circular mounting table 27. Further, below the circular mounting table 27, each of the driving spheres 19, 20, and 21 is attached to the lower surface 28 of the circular mounting table 27 and can be rotated in all directions (360 degrees). It is rotatably provided via 30 and 31. Each of the supporting ball type casters 29, 30, and 31 is in contact with the apex positions of the driving spheres 19, 20, and 21, respectively.

Each driving sphere 19, 20, 21 is made of an elastic material made of synthetic resin (for example, urethane resin), and has a diameter of, for example, about 50 to 100 mm (preferably 70 to 100 mm) and the same shape. (Same diameter). For this reason, the lower surface 28 of the circular mounting table 27 is parallel to the floor surface 14, and the rotation speed when the driving spheres 19, 20, 21 rotate is the same. Further, the rotational centers of the driving spheres 19, 20, and 21 are arranged at an equal angle of 120 degrees around the center of gravity G of the equilateral triangle in plan view and at an equal distance from the center of gravity G (that is, , Arranged at vertex positions P1, P2, and P3 of the equilateral triangle).

The drive means 22 (the drive means 23 and 24 are also the same) includes a rotor 32 that contacts the peripheral surfaces of the drive sphere 19 and the drive sphere 20 that are arranged adjacent to each other, and a drive motor 33 that rotationally drives the rotor 32. And have. Here, the rotor 32 has a rotational axis 34 whose axis is parallel to the floor surface 14 and the height of the axis is the same as the rotational center of each driving sphere 19, 20. Thus, they are arranged on a line connecting the rotation centers of the driving sphere 19 and the driving sphere 20 in plan view. The diameter of the rotor 32 is smaller than the diameters of the driving sphere 19 and the driving sphere 20. Thereby, the two driving spheres 19 and 20 can be simultaneously rotated in the same direction without bringing the rotor 32 into contact with the floor surface 14.

The driving sphere 19 (the same applies to the driving spheres 20 and 21) is in contact with a wheel caster 36 attached to the inner surface 35 of the frame 26 at its peripheral surface. The wheel caster 36 is a known one that can rotate in one direction, and is attached to the rotor 32 of the driving means 22 and 24 so as to sandwich the driving sphere 19 therebetween. As a result, in FIG. 2, the driving sphere 19 is positioned in the lateral direction. Since the wheel caster 36 can rotate in one direction, the driving sphere 19 is attached to the inner side surface 35 of the frame 26 while being guided to be rotatable in the vertical direction (vertical direction) in FIG. Also, the number of wheel casters 36 can be two or more for one driving sphere.
In addition, since the drive principle and drive control method of the omnidirectional movement mechanism 18 are disclosed in Japanese Patent Application Laid-Open No. 2010-30360 (spherical drive omnidirectional movement device), the detailed contents thereof are omitted.

As shown in FIGS. 1 to 3, in the upper part of the circular mounting table 27 of the self-propelled carriage 12, a storage unit that stores a control unit 25 of the omnidirectional movement mechanism 18 and a power supply unit (not shown) including a battery. 37 is provided, and a cover member 38 is provided outside the storage portion 37. In addition, a first box member 39 is provided on the rear side of the self-propelled carriage 12 so as to contact the frame 26 and protrude rearward. The first box member 39 has a cover for operating the operation unit 13. A first laser range sensor 40, which is an example of an optical sensor that detects left and right foot positions on the floor 14 of the assistant, for example, a heel position, is housed. Reference numeral 41 denotes a first slit 41 formed on the rear side of the first box member 39 for passing the laser beam used in the first laser range sensor 40.

In the first laser range sensor 40, the first laser range sensor 40 is provided in the first laser range sensor 40 in a plane set in parallel to the floor surface 14 at a height position corresponding to the heel of the person being assisted on the floor surface 14. The laser beam is emitted while scanning within a certain angle range centered on the reference position, and the time until the laser beam reflected by the left and right eyelids of the person being assisted is received is determined. Measure the distance to the heel. For this reason, the left and right heel positions of the person being assisted with respect to the reference position of the first laser range sensor 40 can be respectively obtained, and each heel separation distance between the self-propelled carriage 12 and the left and right heel positions of the person being assisted I understand each. Moreover, the movement of the left and right heel positions of the person being assisted is obtained from the change in the distance between the heels, and the walking movement of the person being assisted can be understood.

Here, the data of the heel separation distance between the self-propelled carriage 12 and the left and right heel positions of the person being assisted is provided in the first box member 39, and forms a part of the distance maintaining means. Input to the distance maintaining means 42. The first distance maintaining means 42 has a first distance determination function for determining whether or not the heel separation distance is within a preset range from the data of each heel separation distance, and the heel separation distance is A first calculation function for calculating a moving direction, a moving distance, and a moving speed of the self-propelled carriage 12 so that the kite separation distance is within the preset range when it deviates from the preset range; The control signal data is output to the control unit 25 so that the control signal for moving the self-propelled carriage 12 by the moving distance at the moving speed in the moving direction is output from the control unit 25 of the omnidirectional moving mechanism 18. 1 output function. The first distance maintaining means 42 can be formed by incorporating each program that develops the first distance determination function, the first calculation function, and the first output function into, for example, a CPU.

A second box member 43 is provided in the upper part of the storage portion 37, and the left and right leg positions (for example, knees) on the floor surface 14 of the person who operates the operation unit 13 are provided in the second box member 43. A second laser range sensor 44 that is an example of an optical sensor that detects a position) is housed. Reference numeral 45 denotes a second slit formed on the rear side of the second box member 43 for passing a laser beam used in the second laser range sensor 44.

The second laser range sensor 44 is provided in the second laser range sensor 44 in a plane set in parallel to the floor surface 14 at a height position corresponding to the knee of the person being assisted on the floor surface 14. The laser beam is emitted while scanning within a certain angular range around the reference position, and the time until the laser beam reflected by the left and right knees of the person being assisted is received is determined. Measure the distance to the knee. For this reason, the left and right knee positions of the person being assisted with respect to the reference position of the second laser range sensor 44 can be respectively obtained, and each knee separation distance between the self-propelled carriage 12 and the left and right knee positions of the person being assisted I understand each. Moreover, the movement of the left and right knee positions of the person being assisted is obtained from the change in the distance between the knees, and the walking movement of the person being assisted can be understood.

Here, the data of the knee separation distance between the self-propelled carriage 12 and the left and right knee positions of the person being assisted is provided in the storage unit 37, and the second distance constituting the other part of the distance maintaining means Input to the maintaining means 46. The second distance maintaining means 46 includes a second distance determination function for determining whether or not the knee separation distance is a distance within a preset range from each knee separation distance data, and the knee separation distance is A second calculation function that calculates the movement direction, movement distance, and movement speed of the self-propelled carriage 12 so that the knee separation distance is within the preset range when the distance is out of the preset range; The control signal data is output to the control unit 25 so that the control signal for moving the self-propelled carriage 12 by the moving distance at the moving speed in the moving direction is output from the control unit 25 of the omnidirectional moving mechanism 18. 2 output functions. The second distance maintaining means 46 can be formed by incorporating each program that develops the second distance determination function, the second calculation function, and the second output function into the CPU, for example.

Further, a laser type obstacle detection sensor 47 for detecting an obstacle in front of the self-propelled carriage 12 is housed in the second box member 43. A horizontal slit 48 is formed in the front portion of the second box member 43 along the width direction for the passage of a laser beam used by the obstacle detection sensor 47. The obstacle detection sensor 47 includes a self-propelled carriage. The reference provided in the obstacle detection sensor 47 in a plane set in parallel to the floor surface 14 at a certain height position (for example, a height position in the range of 100 to 500 mm) from the floor surface 14 in front of the twelve. The distance to the obstacle can be determined by calculating the time until the laser beam reflected by the obstacle in front of the self-propelled carriage 12 is received while scanning the laser beam with a certain angle range centered on the position. Measuring. Note that by setting a time range from when the laser beam is emitted until it is received, only obstacles existing within a certain distance in front of the self-propelled carriage 12 can be detected. Therefore, sound generating means (for example, a speaker, a bell, a buzzer, etc.) provided in the obstacle detection sensor 47 when the distance between the self-propelled carriage 12 and the obstacle in front reaches a preset first distance. A sound can be generated as an alarm signal. Further, the self-propelled carriage 12 is stopped from the obstacle detection sensor 47 when the distance between the self-propelled carriage 12 and the obstacle in front reaches a preset second distance (a value smaller than the first distance). A stop signal can be output to the control part 25 of the omnidirectional movement mechanism 18, and the self-propelled carriage 12 can be forcibly stopped.

As shown in FIGS. 1, 2, and 5, a plurality of (three in the present embodiment at equal intervals in the circumferential direction) fall prevention stoppers 49 are provided around the frame 26 of the self-propelled carriage 12. It has been. Here, the fall prevention stopper 49 has a base side attached to the frame 26, an arm member 50 arranged in parallel to the floor surface 14 with the front side facing outward, and an attachment provided at the tip of the arm member. An auxiliary wheel 52 is attached from the floor surface 14 with a gap of, for example, 5 to 20 mm through the member 51. Note that the auxiliary wheel 45 is configured to be able to rotate 360 degrees around the vertical line set up at the contact portion on the floor surface 14 when in contact with the floor surface 14. Accordingly, when the walking support device 10 (self-propelled carriage 12) is tilted, the auxiliary wheel 52 that is close to the tilted direction contacts the floor surface 14, and the walking support device 10 is prevented from further tilting. 10 is prevented from falling. Further, the auxiliary wheels 52 are usually provided so as to be lifted from the floor surface 14 so as not to prevent the self-propelled carriage 12 from moving in an arbitrary direction.

As shown in FIGS. 1 and 2, when the person being assisted walks, the support member 11 that serves as a support for the person being assisted passes through the central portion of the second box member 43, and is a self-propelled carriage. 12, a mounting portion 54 erected at the center of the ceiling plate 53 of the storage portion 37 provided on the circular mounting table 27, a connecting member 55 connected to the mounting portion 54 so as to be movable up and down, and a connecting member 55 An operating rod 57 that is fixed via a bolt 56 that is an example of a fastening member, and an operating grip in which a base is attached to the tip of the operating rod 57 and the tip is branched to the left and right sides to form a gripping portion 58. 59.

The attachment portion 54 has a base 61 fixed to the proximal end of the attachment portion 54. A detection unit (not shown) of a capacitive six-axis force sensor (hereinafter also simply referred to as a six-axis force sensor) 60, which is an example of a force sensor, is attached to the mounting unit 54 via the base 61. It is connected to the base end. Since the 6-axis force sensor 60 is connected to the base end of the mounting portion 54 via the base 61, the 6-axis force sensor 60 is not damaged even if the weight of the person being assisted is loaded on the support member 11. Can be prevented. In addition, by fixing the 6-axis force sensor 60 to the center portion of the ceiling plate 53, the attachment portion 54 is erected at the center portion of the ceiling plate 53. Further, the attachment portion 54 includes a guide portion 63 for holding the slide portion 62 provided on the connecting member 55 from both sides in the width direction and guiding the slide portion 62 ascending and descending from both sides, and the cylinder body 64 on the connecting member 55. The cylinder rod 65 has a fluid pressure cylinder 66 attached to the tip of the cylinder rod 65. Further, an auxiliary grip 68 provided with a gripping portion 67 branched rightward and leftward toward the rear side of the connecting material 55 (the rear side of the self-propelled carriage 12) in the region ahead of the longitudinal center of the connecting material 55. Installed. By setting it as such a structure, the auxiliary | assistant grip 68 can be provided so that raising / lowering is possible. A cover member 69 is provided to cover the cylinder body 64 and the cylinder rod 65 protruding from above the second box member 43 when the cylinder rod 65 is driven.

On the base side of the operation rod 57, female thread portions 70 are formed along the length direction at a constant pitch (for example, a pitch of 10 to 30 mm). Then, the front side of the bolt 56 inserted into the connecting member 55 through the through holes (not shown) formed on the front side of the connecting member 55 at the same pitch as the female screw portion 70 is connected to the female screw portion 70 of the operating rod 57. The operating rod 57 is fixed to the connecting member 55 by being screwed into the connecting member 55. By selecting the position of the female thread portion 70 into which the bolt 56 is screwed, the height of the operation grip 59 can be adjusted.

In addition, the grip portion 58 of the operation grip 59 is provided with a sheet-like grip sensor 71 that detects that the grip portion 58 is gripped by a change in pressure. Each is input to the control unit 25 of the direction moving mechanism 18. Thereby, the driving state of the walking support device 10 can be switched by the output from the grip sensor 71. Here, the switching of the driving state means that the self-propelled carriage 12 is switched from the drivable state (operation waiting state) to the primary stop state, or from the primary stop state to the drivable state. This means switching from a state in which stepping position information can be output to a primary stop state, or from a primary stop state to a state in which output is possible. Note that when the grip sensor 58 detects that the gripper 58 is gripped, the gripping force varies depending on the person being assisted, so a threshold value for pressure change is set for each person being assisted and the gripper 58 is gripped. It is possible to reliably determine whether or not

When the grip 58 of the operation grip 59 is gripped by a person being assisted and the operation grip 59 is pushed out in a direction (walking direction) in which the walking support device 10 (self-propelled carriage 12) is to be moved, The force applied to the grip 59 is transmitted to the base 61 via the operation rod 57, the connecting member 55, and the attachment portion 54, and the front and rear and the left and right of the attachment portion 54 (support member 11) are detected by the six-axis force sensor 60. The tilt direction and the rotation direction of the attachment portion 54 (support member 11) are detected. Then, an output signal from the six-axis force sensor 60 is input to the control unit 25 of the omnidirectional movement mechanism 18, and a control signal for moving the self-propelled carriage 12 is formed in the control unit 25, and the control signal is the drive unit 22. , 23, 24. Thereby, the self-propelled carriage 12 moves in the direction (walking direction) designated by the person being assisted.

As shown in FIG. 6, the walking assist device 10 includes a pressure distribution detection unit 73 that measures the pressure distribution of the sole of the person being assisted on the floor surface 14. And the pressure distribution detection means 73 transmits the data obtained by the pressure distribution measuring device 74 carried by the care receiver and the pressure distribution measuring device 74 attached to the bottom surface of the shoe worn by the assistant during walking. And a pressure detector 76 (see FIG. 3) that is attached to the self-propelled carriage 12 and that receives data transmitted from the transmitter 75 and obtains the pressure distribution of the soles. Have. Here, the pressure distribution measuring instrument 74 has a plurality of strain sensors 77 distributed on the bottom surface of the shoe, and a protective member 78 that covers the strain sensors 77. The sole pressure distribution obtained by the pressure detection unit 76 is input to the teaching unit 17. As a result, it is possible to grasp the situation when the foot is stepped on to pressurize the floor surface 14 and the footstep when the stepped foot touches the floor surface 14 and the weight shift is performed (the walking rhythm is understood). Appropriate output of the stepping position information is possible.

As shown in FIGS. 1 to 3, the teaching unit 17 includes an input unit 79 (for example, a data reading device for a touch panel and various information storage media) having a function of inputting operation data of the walking support device 10, and an input. Storage means 80 having a function of storing the operated data. Here, the operation data includes, for example, a series of actions such as “moving the tip of the affected foot, then stepping on the affected leg and then moving the healthy leg” when walking using a walking stick, and a certain walking rhythm. And the body data (eg, dimension data of each part of the lower limb, walking speed, gripping force when gripping the gripping part 58, etc.). The reference motion data is an analysis of cane walking movement patterns (for example, hip joint, knee joint, and foot joint motions) based on images taken with a stereo camera by a healthy person who has been fully trained under the guidance of a walking training instructor. Is obtained from

In addition, the teaching unit 17 has a function of reading operation data from the storage unit 80 and creating stepped-out position information (reference data) of the person being assisted, which is walking motion data using a cane suitable for the person being assisted. Data creation means 81, information output means 82 having a function of outputting the stepping position information to the speaker 15 and the projector 16 in accordance with the stepping position information of the person being assisted obtained by the data creation means 81, and the person being assisted The stepping position information of the person being assisted and the actual walking motion of the person being assisted are compared, whether the operation of the operation unit 13 by the person being assisted is appropriate, Correction information output means having a function of judging whether or not it is correct and transmitting a compliment, a correction instruction, and the like through the speaker 15 and the projector 16 by sound and light, respectively. 3, the second storage means 84 having a function of storing the stepped position information of the person being assisted and the actual walking motion of the person being assisted, and the data selected from the data stored in the second storage means 84 Is displayed on the display (for example, the display unit 85 provided on the input unit 79 and displaying the touch panel, the projector 16). Here, the operation status of the operation unit 13 by the person being assisted and the walking motion of the person being assisted are the left and right heels of the person being assisted with respect to the self-propelled carriage 12 obtained by the first and second laser range sensors 40 and 44. Obtained from knee position data. The walking rhythm is obtained from the temporal change in the pressure distribution of the soles input from the pressure detector 76.

Further, the teaching unit 17 includes a first function for turning on / off the teaching unit 17 and a second function for turning on / off the input unit 79, the storage unit 80, the data creation unit 81, the second storage unit 84, and the display unit 85. Function, speaker 15, projector 16, input means 79, storage means 80, data creation means 81, information output means 82, and correction information output means 83 are turned on / off (that is, whether or not to output stepping position information) The third function, the control unit 25 of the self-propelled carriage 12, the first laser range sensor 40, the first distance maintaining means 42, the second laser range sensor 44, the second distance maintaining means 46, the obstacle Based on the fourth function for turning on / off the object detection sensor 47, the electrostatic capacity type six-axis force sensor 60, and the grip sensor 71, and the output from the grip sensor 71, the speaker 15, The ejector 16, the information output means 82, the correction information output means 83, the second storage means 84, and the display means 85 are operated when the gripping portion 58 is in the gripping state, and when the gripping portion 58 is in the non-holding state. Has an activation means 86 having a fifth function for primary stop. Here, the activation unit 86 is turned on / off in response to the on / off of the teaching unit 17. The teaching unit 17 can be formed by mounting a program that expresses each function described above, for example, in a portable information processing device (for example, a personal computer). Reference numeral 87 denotes a support base that is attached to the front side of the operation rod 57 and on which the input means 79 of the teaching unit 17 is placed.

Then, the effect | action of the self-supporting walking assistance apparatus 10 which concerns on one embodiment of this invention is demonstrated.
As shown in FIG. 7, the teaching unit 17 is turned on (S-1). Next, the body data (user data) of the person being assisted in walking training (user) is input via the touch panel and the data reading device of the input unit 79 (S-2). In addition, when the body data of the person being assisted is input, the data creation means 81 creates stepped-in position information (reference data) of the person being assisted as walking motion data (T-1). Then, after the user data is input, a mode selection is made as to whether or not the stepping position information is output (S-3). Here, in the case of outputting the stepping position information (with teaching), the walking support apparatus 10 automatically performs walking training guidance. On the other hand, when the stepping position information is not output (no teaching), the walking training is not performed by the walking support device 10 (manual training), and the walking training is performed under the guidance of the walking training instructor. Done. Then, when the operation grip 59 (gripping portion 58) is gripped, walking training is started (S-4).

When the walking training is started, the mode selection content is confirmed. When the mode selection content is not taught (S-5), the person being assisted (user) holds the grip portion 58 of the operation grip 59. When the operation grip 59 is pushed out in the walking direction (forward direction), the force applied to the operation grip 59 is transmitted to the attachment portion 54 via the connecting member 55, and is attached to the attachment portion 54 by the 6-axis force sensor 60. The front and rear and left and right tilt directions and the rotation direction of the mounting portion 54 are detected. Then, an output signal from the six-axis force sensor 60 is input to the control unit 25 of the omnidirectional movement mechanism 18, and a control signal for moving the self-propelled carriage 12 is formed in the control unit 25, and the control signal is the drive unit 22. , 23, 24. As a result, the self-propelled carriage 12 moves and stops in a direction (walking direction) designated by the person being assisted by a preset distance. In addition, the state where the self-propelled carriage 12 has moved and stopped by a preset distance is a state where the walking stick is lifted and moved forward and installed on the floor surface when walking training is performed using the walking stick. Correspond.

Therefore, the person being assisted can step out the affected leg and then move the healthy leg, and can advance one step. At this time, the first laser range sensor 40 determines the heel separation distance between the left and right heel positions of the person being assisted with respect to the self-propelled carriage 12 and the left and right heel positions of the self-propelled trolley 12 and the person being assisted. The walking motion of the person being assisted is detected from the movement of the left and right heel positions of the person being assisted. In addition, the second laser range sensor 44 obtains the knee separation distance between the left and right knee positions of the person being assisted with respect to the self-propelled carriage 12 and the knee position between the self-propelled carriage 12 and the left and right sides of the person being assisted. Accordingly, the movement of the left and right knee positions of the person being assisted is obtained from the change in each knee separation distance, and the walking movement of the person being assisted is detected. Further, the pressure distribution detecting means 73 can grasp the situation when the person being stepped on presses the floor 14 and presses the floor 14, and the situation where the stepped foot touches the floor 14 and the weight shift is performed. (Understand walking rhythm).

Furthermore, the data of the eyelid separation distance is input to the first distance maintaining means 42, and it is determined whether or not each eyelid separation distance is a distance within a preset range. Here, when the kite separation distance deviates from the preset range, the self-propelled carriage 12 moves so that the kite separation distance falls within the preset range. Further, the data of the knee separation distance is input to the second distance maintaining means 46, and it is determined whether or not each knee separation distance is a distance within a preset range. Here, when the knee separation distance is out of the preset range, the self-propelled carriage 12 moves so that the knee separation distance is within the range. As a result, the person being assisted can be prevented from falling during walking training (S-6).

From the left and right heel position of the person being assisted with respect to the self-propelled carriage 12 by the first laser range sensor 40 and the left and right knee positions of the person being assisted with respect to the self-propelled carriage 12 by the second laser range sensor 44 When it is detected that the walking movement to move one step is completed, it is confirmed whether or not the grip portion 58 of the operation grip 59 is in a non-grip state (whether the training is completed) (S-7). When the grip portion 58 of the operation grip 59 is not gripped, the walking training data stored in the second storage means 84 is provided via a display means 85 on a display device (for example, the input means 79, and touch panel). Is displayed (S-8), and the walking training is completed. On the other hand, when the grip portion 58 of the operation grip 59 is in the gripping state (training has not ended), confirmation of no teaching (S-5) and walking motion (until the operation grip 59 is in the non-grip state) ( S-6) is repeated.

Here, when there is an obstacle in front of the self-propelled carriage 12, the distance between the self-propelled carriage 12 and the obstacle in front is measured by the obstacle detection sensor 47, and the distance between the self-propelled carriage 12 and the obstacle is determined. When the preset first distance is exceeded, the self-propelled carriage 12 can move in the forward direction. Then, when the forward movement of the self-propelled carriage 12 is repeated and the distance between the self-propelled carriage 12 and the obstacle reaches a preset first distance, the sound provided to the obstacle detection sensor 47 A warning sound is generated from the generating means. Thereby, the moving direction (walking direction) of the self-propelled carriage 12 can be changed. Here, the moving direction of the self-propelled carriage 12 is not changed, the self-propelled carriage 12 further approaches the obstacle, and the distance between the self-propelled carriage 12 and the front obstacle reaches a preset second distance. At that time, a stop signal for stopping the self-propelled carriage 12 is output from the obstacle detection sensor 47, and the self-propelled carriage 12 is forcibly stopped.

In the mode selection (S-3), when the output of the step position information is selected (instructed in S-5), when the walking training is started, the reference data created by the data creation unit 81 is the information output unit 82. Are output from the speaker 15 and the projector 16, respectively. The person being assisted performs a walking motion (teaching walking motion) according to the reference data (T-2). Hereinafter, the teaching walking motion (T-2) will be described. Note that the processing after completion of the walking movement of the person being assisted by one step is the same as when the output of the stepping position information is not selected in the mode selection (S-3), and thus the description thereof is omitted.

As shown in FIG. 8A, when the teaching walking motion is started (TT-1), as a fixed position instruction, for example, a voice “Please hold the cane with the left and right feet together” from the speaker 15. Is output (TT-2). When the positions of the left and right feet (heels) are confirmed by the first laser range sensor 40 and the left and right foot positions are within a preset range, for example, “OK. ”Or“ ping-pong ”sound is output. On the other hand, if the left and right heel positions are outside the preset range, a voice “Please hold the cane with both left and right feet” is output from the speaker 15 again as a fixed position instruction. (TT-2) The fixed position instruction is repeated until the left and right eyelid positions are arranged within a preset range (TT-3). Incidentally, in FIG. 8 (B), shows the foot positions of the right and left in accordance with the position instruction (initial foot position P _H), the initial position P _S of the operation grip 59 of the self-propelled carriage 12, respectively.

When it is confirmed that the position of the person being assisted follows the fixed position instruction, for example, “please push (push) the cane (grip for operation 59) forward” from the speaker 15 as an instruction to move the cane. Audio is output (TT-4). In FIG. 8 (C), from the free-running carriage 12 moves a cane (operating grip 59) is the initial position P _S in accordance with an instruction wand movement, showing a state that has moved forward by L _S. Here, the movement of the walking stick (operation grip 59) is detected from, for example, changes in the left and right eyelid positions of the person being assisted with respect to the self-propelled carriage 12 by the first laser range sensor 40. Note that the movement amount L _S of the cane (the operation grip 59) is set such that, for example, the eyelash separation distance by the first laser range sensor 40 is within a preset range.

When the movement of the cane (grip for operation 59) is confirmed, if the affected leg is the left leg, for example, a voice saying "Put your left foot forward" or a sound "ping pong" is output from the speaker 15. At the same time, the affected foot movement instruction for displaying the foot image of the left foot as the stepping position of the left foot on the floor surface 14 in front of the left foot of the person being assisted is given from the projector 16 (TT-5). Then, it is determined whether the left foot of the person being assisted has been stepped on to overlap the foot image of the left foot displayed as the stepped position of the left foot (TT-6). In FIG. 8 (D), left foot of the caregiver, from the initial position P _H, is Fumidasa forward by W _H, illustrating a state in which overlapping left foot image.
Here, the stepped state of the left foot of the person being assisted includes the position of the left heel of the person being assisted with respect to the self-propelled carriage 12 by the first laser range sensor 40 and the condition of the person with respect to the self-propelled carriage 12 by the second laser range sensor 44. From the left knee position of the caregiver.

Here, when it is determined that the left foot of the person being assisted does not overlap the foot image of the left foot displayed as the stepping position of the left foot (TT-6), the affected foot movement teaching (TT-5) is performed again. The affected foot movement teaching is repeated until the left foot of the person being assisted overlaps the foot image of the left foot (TT-5). Incidentally, the left foot of the caregiver, so moving the initial foot position P _H, with respect to the left foot position of the current the care receiver, respectively seeking heel clearance and knee distance, heels distance When the knee separation distance is not within the preset range, the self-propelled carriage 12 moves, that is, the cane position correction is performed (TT-7).

When it is determined that the left foot of the person being assisted overlaps the foot image of the left foot displayed as the stepping position of the left foot (TT-6), for example, “ “Please put your right foot forward” or “Ping-pong” sound is output, and the foot image of the right foot is projected from the projector 16 on the floor 14 in front of the right foot of the person being assisted as the stepping position of the right foot. Is displayed (TT-8). Next, it is determined whether the right foot of the person being assisted has been stepped on so as to overlap the foot image of the right foot displayed as the stepped position of the right foot (TT-9). When it is confirmed that the right foot of the person being assisted has been stepped on so as to overlap the foot image of the right foot displayed as the stepping position of the right foot, the one gait movement of the person being assisted has been completed. One walking motion of the assistant is started (TT-1). The movement, in FIG. 8 (E), the right foot of the caregiver, from the initial position P _H, is Fumidasa forward by W _H, forward state overlapping the right foot image (the care only W _H State).
Note that the stepped state of the right foot of the person being assisted is determined by the first laser range sensor 40 on the right side of the person being assisted with respect to the self-propelled carriage 12 and the person being assisted with respect to the self-propelled carriage 12 by the second laser range sensor 44. From the right knee position.

Here, when it is determined that the right foot of the person being assisted does not overlap the foot image of the right foot displayed as the stepping position of the right foot (TT-9), the healthy foot movement teaching (TT-8) is performed again. Then, the healthy foot movement teaching is repeated until the right foot of the person being assisted overlaps the foot image of the right foot (TT-8). Incidentally, the right foot of the caregiver, so moving the initial foot position P _H, with respect to the right foot position of the current the care receiver, respectively seeking heel clearance and knee distance, heels distance If the knee separation distance is not within the preset range, the self-propelled carriage 12 moves, that is, the cane position correction is performed (TT-10).

As described above, in the self-supporting walking support device 10, the self-propelled carriage 12 on which the support member 11 serving as a support during walking moves on the floor surface 14 by the operation of the operation unit 13. Therefore, walking training can be performed while easily maintaining the body balance of the person being assisted. In the walking training, since the speaker 15 and the projector 16 of the teaching unit 17 convey stepping position information (reference data) necessary for the person being stepped on by foot and video, respectively, the walking of the person being assisted Training (for example, leg movement, walking rhythm, etc.) can be effectively assisted, and motivation for walking training can be increased.

Further, in the self-supporting walking support device 10, the omnidirectional movement mechanism 18 is incorporated in the self-propelled carriage 12, and the person being assisted grips the grip portion 58 of the operation grip 59 and pushes it forward. The carriage 12 can be moved forward on the floor surface 14, and the person being assisted does not need to push or lift the self-supporting walking support device 10. The burden on the body (for example, hands, arms, and shoulders) during operation can be reduced, and fatigue during walking training can be reduced.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above-described embodiment, and the matters described in the scope of claims. Other embodiments and modifications conceivable within the scope are also included.
For example, the stepping position information of the foot that the caregiver steps when walking is displayed as a foot image on the floor, but the circle, square, triangle, etc. of the size circumscribing the shoe worn by the caregiver on the floor You may make it display with the figure of.
Further, the starter's stepping position information of the person being assisted is output by any one of (1) audio, (2) light (image), or (3) audio and light (image). A function for selecting a transmission (output) method for selecting what to do can be provided. As a result, when the information transmission method by voice is selected in the activation means, the speaker, which is an example of the auditory guidance means, and when the information transmission method by light is selected, the projector, which is an example of the visual guidance means, When the information transmission method using light is selected, the stepped-out position information of the person being assisted is transmitted from a speaker, which is an example of auditory guidance means, and a projector, which is an example of visual guidance means.

10: self-supporting walking support device, 11: support member, 12: self-propelled carriage, 13: operation unit, 14: floor surface, 15: speaker, 16: projector, 17: teaching unit, 18: omnidirectional movement mechanism, 19, 20, 21: driving sphere, 22, 23, 24: driving means, 25: control unit, 26: frame, 27: circular mounting table, 28: lower surface, 29, 30, 31: ball-type caster for support, 32: Rotor, 33: Drive motor, 34: Rotating shaft, 35: Inner surface, 36: Wheel caster, 37: Storage part, 38: Cover member , 39: First box member, 40: First laser Range sensor 41: 1st slit 42: 1st distance maintenance means 43: 2nd box member 44: 2nd laser range sensor 45: 2nd slit 46: 2nd distance maintenance Means 47: Obstacle detection sensor 48 Horizontal slit, 49: Stopper for preventing toppling, 50: Arm member, 51: Mounting member, 52: Auxiliary wheel, 53: Ceiling board, 54: Mounting portion, 55: Connecting material, 56: Bolt, 57: Operating rod, 58 : Gripping part, 59: grip for operation, 60: capacitive 6-axis force sensor, 61: base, 62: slide part, 63: guide part, 64: cylinder body, 65: cylinder rod, 66: fluid pressure Cylinder, 67: gripping part, 68: auxiliary grip, 69: cover member, 70: female screw part, 71: gripping sensor, 73: pressure distribution detecting means, 74: pressure distribution measuring device, 75: transmitter, 76: pressure detection , 77: strain sensor, 78: protection member, 79: input means, 80: storage means, 81: data creation means, 82: information output means, 83: correction information output means, 84: second storage means, 85 :table Means, 86: start-up means, 87: support base

Claims (11)

A self-propelled carriage provided with a support member standing upright during walking; and an operation portion of the self-propelled carriage provided on the support member, and the self-propelled vehicle is operated on the floor by the operation of the operation portion. A self-supporting walking support device in which a carriage moves,
1) The self-propelled carriage is provided with a teaching unit including an auditory guidance unit and / or a visual guidance unit that conveys stepping position information of a person who operates the operation unit by voice and / or light. that it is,
2) In the self-propelled carriage, the three driving spheres respectively provided at the apex positions of the equilateral triangle in plan view and the driving spheres in contact with and in contact with the adjacent driving spheres are simultaneously the same. An omnidirectional movement mechanism having three driving means for rotationally driving in a direction, and being movable in all directions on the floor surface by operation of the operation unit;
3) The operation unit includes a force sensor that detects front and rear and left and right tilt directions of the support member and a rotation direction of the support member; and
4) Around the self-propelled carriage, a base side is attached to a frame of the self-propelled carriage, and an arm member disposed with the front side facing the outside of the self-propelled carriage is provided on the front side of the arm member. A plurality of fall prevention stoppers having an auxiliary wheel attached to the mounting member with a gap from the floor surface;
This is a self-supporting walking support device. 2. The self-supporting walking support device according to claim 1, wherein when the auxiliary wheel is in contact with the floor surface, the auxiliary wheel is capable of rotating 360 degrees about a vertical line formed on a contact portion of the floor surface. Features a self-supporting walking support device. 3. The self-supporting walking support device according to claim 1, wherein the plurality of fall prevention stoppers are provided at equal intervals around a frame of the self-propelled carriage. apparatus. The self-propelled walking support device according to any one of claims 1 to 3, wherein the self-propelled carriage is provided with an optical sensor that detects a leg position and a foot position on the floor surface of the person being assisted. This is a self-supporting walking support device. The self-propelled walking support device according to claim 4, wherein the self-propelled carriage includes the care receiver and the self-propelled carriage obtained from the leg position and the foot position of the person being assisted on the floor surface. A self-supporting walking support device, characterized in that a distance maintaining means is provided to keep the separation distance of the above in a preset range. The self-supporting walking support apparatus according to any one of claims 1 to 5, wherein the support member is provided with an operation grip whose height is adjustable. 7. The self-supporting walking support device according to claim 6, wherein the operation grip is provided with a grip sensor, and the driving state of the self-supporting walk support device is switched by an output from the grip sensor. Features a self-supporting walking support device. The self-supporting walking support device according to claim 6 or 7, wherein the supporting member is provided with an auxiliary grip capable of moving up and down separately from the operation grip. . In the self-supporting walking support device according to any one of claims 1 to 8, an obstacle detection sensor for detecting an obstacle ahead of the self-propelled carriage is provided on a front side of the self-propelled carriage. This is a self-supporting walking support device. The self-supporting walking support apparatus according to any one of claims 1 to 9 , wherein the operation unit includes input means for inputting operation data that is a basis of the step position information, and the step created from the operation data. A self-supporting walking support device, characterized in that information output means for outputting position information is provided. The self-supporting walking support apparatus according to any one of claims 1 to 10 , further comprising pressure distribution detection means for measuring a pressure distribution of a sole of the person being assisted on the floor surface. A self-supporting walking support device.

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