JP6187208B2 - 歩行リハビリシステム - Google Patents
歩行リハビリシステム Download PDFInfo
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- JP6187208B2 JP6187208B2 JP2013251923A JP2013251923A JP6187208B2 JP 6187208 B2 JP6187208 B2 JP 6187208B2 JP 2013251923 A JP2013251923 A JP 2013251923A JP 2013251923 A JP2013251923 A JP 2013251923A JP 6187208 B2 JP6187208 B2 JP 6187208B2
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- user
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- reaction force
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- floor reaction
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- 230000005484 gravity Effects 0.000 claims description 8
- 210000003141 lower extremity Anatomy 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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Description
以下、図面を参照して本発明の実施の形態について説明する。図1は、本実施の形態にかかる歩行リハビリシステムの全体像を示す図である。歩行リハビリシステム1は、トレッドミル10と、床反力センサ11と、ロボット制御ユニット12と、距離画像カメラ13と、脚ロボット14と、を備える。また、本実施の形態においては、さらに、ユーザのリハビリを補助する主担当者がリハビリシステムを操作するための操作パネルと、ユーザを支持するためのフレームと、ユーザを撮影するためのカメラ、及び表示装置を有する。
10 トレッドミル
11 床反力センサ
12 ロボット制御ユニット
13 距離画像カメラ
14 脚ロボット
121 トルク指令演算部
122 歩行状態推定部
123 足裏荷重推定部
Claims (1)
- トレッドミルと、
前記トレッドミルにかかる反力を測定する床反力センサと、
ユーザの下肢に装着される脚ロボットと、
前記脚ロボットが装着された下肢を撮影する距離計測センサと、
ユーザに装着されるセンサを用いることなくユーザの足裏荷重を推定する手段であって、前記床反力センサおよび前記距離計測センサを用いて測定した、床反力の合力、及びその重心位置、並びに前記ユーザの左右の下腿のそれぞれの足裏荷重の重心位置、から前記床反力センサの測定値及び前記距離計測センサの計測結果とに基づいてユーザの左右の下肢のそれぞれの足裏荷重を推定する荷重推定手段と、
を有する歩行リハビリシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013251923A JP6187208B2 (ja) | 2013-12-05 | 2013-12-05 | 歩行リハビリシステム |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013251923A JP6187208B2 (ja) | 2013-12-05 | 2013-12-05 | 歩行リハビリシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015107247A JP2015107247A (ja) | 2015-06-11 |
JP6187208B2 true JP6187208B2 (ja) | 2017-08-30 |
Family
ID=53438109
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2013251923A Expired - Fee Related JP6187208B2 (ja) | 2013-12-05 | 2013-12-05 | 歩行リハビリシステム |
Country Status (1)
Country | Link |
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JP (1) | JP6187208B2 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3489965A1 (en) | 2017-11-24 | 2019-05-29 | Toyota Jidosha Kabushiki Kaisha | Medical information system, medical apparatus, method, and program |
EP3489961A1 (en) | 2017-11-24 | 2019-05-29 | Toyota Jidosha Kabushiki Kaisha | Rehabilitation support apparatus, control method, and control program |
WO2021049417A1 (ja) | 2019-09-12 | 2021-03-18 | 株式会社大武ルート工業 | トレッドミル |
US11507689B2 (en) | 2017-11-24 | 2022-11-22 | Toyota Jidosha Kabushiki Kaisha | Medical data communication apparatus, server, medical data communication method and medical data communication program |
EP4104758A1 (en) | 2021-06-15 | 2022-12-21 | Toyota Jidosha Kabushiki Kaisha | Walking training system, control method of same, and nontransitory storage medium |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108543268B (zh) * | 2018-04-09 | 2019-10-01 | 哈工大机器人(合肥)国际创新研究院 | 基于跑步机训练下肢机器人康复的运动同步方法 |
US20230031291A1 (en) | 2019-12-26 | 2023-02-02 | The University Of Tokyo | Smart treadmill |
CN112690795B (zh) * | 2020-12-22 | 2022-05-20 | 四川大学华西医院 | 一种下肢负重精确力量感测装置 |
JP7428159B2 (ja) * | 2021-04-15 | 2024-02-06 | トヨタ自動車株式会社 | 歩行訓練システム、その制御方法、及び、制御プログラム |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002345994A (ja) * | 2001-05-30 | 2002-12-03 | Hitachi Ltd | 歩行訓練装置 |
JP2003319922A (ja) * | 2002-05-02 | 2003-11-11 | Hitachi Kiden Kogyo Ltd | 重心動揺計測装置 |
JP5494409B2 (ja) * | 2010-10-21 | 2014-05-14 | トヨタ自動車株式会社 | 歩行能力測定装置 |
JP5393852B2 (ja) * | 2012-07-24 | 2014-01-22 | 本田技研工業株式会社 | リハビリテーション装置およびその制御方法 |
-
2013
- 2013-12-05 JP JP2013251923A patent/JP6187208B2/ja not_active Expired - Fee Related
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3489965A1 (en) | 2017-11-24 | 2019-05-29 | Toyota Jidosha Kabushiki Kaisha | Medical information system, medical apparatus, method, and program |
EP3489961A1 (en) | 2017-11-24 | 2019-05-29 | Toyota Jidosha Kabushiki Kaisha | Rehabilitation support apparatus, control method, and control program |
US11232863B2 (en) | 2017-11-24 | 2022-01-25 | Toyota Jidosha Kabushiki Kaisha | Medical information system, medical apparatus, method, and non-transitory computer readable medium |
US11507689B2 (en) | 2017-11-24 | 2022-11-22 | Toyota Jidosha Kabushiki Kaisha | Medical data communication apparatus, server, medical data communication method and medical data communication program |
WO2021049417A1 (ja) | 2019-09-12 | 2021-03-18 | 株式会社大武ルート工業 | トレッドミル |
EP4104758A1 (en) | 2021-06-15 | 2022-12-21 | Toyota Jidosha Kabushiki Kaisha | Walking training system, control method of same, and nontransitory storage medium |
Also Published As
Publication number | Publication date |
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JP2015107247A (ja) | 2015-06-11 |
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