JP6421777B2 - 歩行補助装置、及びその作動方法 - Google Patents
歩行補助装置、及びその作動方法 Download PDFInfo
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- JP6421777B2 JP6421777B2 JP2016058409A JP2016058409A JP6421777B2 JP 6421777 B2 JP6421777 B2 JP 6421777B2 JP 2016058409 A JP2016058409 A JP 2016058409A JP 2016058409 A JP2016058409 A JP 2016058409A JP 6421777 B2 JP6421777 B2 JP 6421777B2
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- JP
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- Prior art keywords
- leg
- walking
- state
- assist device
- attached
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 11
- 210000002414 leg Anatomy 0.000 claims description 143
- 238000001514 detection method Methods 0.000 claims description 40
- 210000000629 knee joint Anatomy 0.000 claims description 25
- 206010033799 Paralysis Diseases 0.000 description 30
- 210000003127 knee Anatomy 0.000 description 18
- 230000000638 stimulation Effects 0.000 description 18
- 210000000689 upper leg Anatomy 0.000 description 14
- 210000002683 foot Anatomy 0.000 description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 description 7
- 210000001699 lower leg Anatomy 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 208000008238 Muscle Spasticity Diseases 0.000 description 3
- 208000018198 spasticity Diseases 0.000 description 3
- 208000024891 symptom Diseases 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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Description
この一態様において、前記刺激付与手段は、前記訓練者の脚部の上腿に装着される上腿フレームに対して、該上腿フレームに膝関節部を介して連結され前記脚部の下腿に装着される下腿フレームを回動させる駆動手段であり、前記刺激付与手段は、前記膝関節部の駆動により生じた振動を用いて、前記歩行補助装置が装着された脚部に対して刺激を付与してもよい。
上記目的を達成するための本発明の一態様は、訓練者の脚部に歩行補助装置を装着し、該脚部の立脚及び遊脚を繰り返す歩行動作を補助する歩行訓練方法であって、前記歩行補助装置が装着された脚部の立脚状態及び遊脚状態を検出するステップと、前記歩行補助装置が装着された脚部の遊脚状態が検出された場合は、該脚部に対して第1の刺激を付与するステップと、前記歩行補助装置が装着された脚部の立脚状態が検出された場合は、該脚部に対して刺激を付与しない、又は、前記第1の刺激よりも弱い第2の刺激を付与するステップと、を含む、ことを特徴とする歩行訓練方法であってもよい。
図1は、本発明の実施形態1に係る歩行訓練装置の概略的な構成を示す斜視図である。図2は、本発明の実施形態1に係る歩行訓練装置の概略的なシステム構成を示すブロック図である。本実施形態1に係る歩行訓練装置1は、例えば、脳卒中片麻痺患者などの訓練者の歩行訓練を行うための装置である。歩行訓練装置1は、訓練者の脚部に装着された歩行補助装置2と、訓練者の歩行訓練を行う訓練装置3と、を備えている。
歩行補助装置2の足平フレーム25に設けられた荷重センサ28は、足平フレーム25の足裏に掛かる荷重値を検出し、制御装置33に出力する(ステップS101)。
制御装置33の状態検出部331は、荷重センサ28から出力される荷重値に基づいて、歩行補助装置2が装着された脚部の立脚状態及び遊脚状態を検出する(ステップS102)。
本発明の実施形態2において、歩行補助装置2は、該歩行補助装置2が装着された脚部の遊脚状態を検出した場合、その脚部に対して、第1刺激値に設定された第1の刺激を付与する。一方、歩行補助装置は、該歩行補助装置2が装着された脚部の立脚状態を検出した場合、脚部に対して、第1刺激値よりも小さな強さの第2刺激値に設定された第2の刺激を付与する。
Claims (2)
- 訓練者の脚部に装着され、該脚部の立脚及び遊脚を繰り返す歩行動作を補助する歩行補助装置であって、
前記歩行補助装置が装着された脚部に対して刺激を付与する刺激付与手段と、
前記歩行補助装置が装着された脚部の立脚状態及び遊脚状態を検出する状態検出手段と、を備え、
前記刺激付与手段は、
前記訓練者の脚部の上腿に装着される上腿フレームに対して、該上腿フレームに膝関節部を介して連結され前記脚部の下腿に装着される下腿フレームを回動させる駆動手段であり、
前記膝関節部の駆動により生じた振動を用いて、前記歩行補助装置が装着された脚部に対して刺激を付与し、
前記状態検出手段によって前記歩行補助装置が装着された脚部の遊脚状態が検出された場合は、該脚部に対して前記膝関節部の駆動により生じた振動を用いた第1の刺激を付与し、
前記状態検出手段によって前記歩行補助装置が装着された脚部の立脚状態が検出された場合は、該脚部に対して刺激を付与しない、又は、前記第1の刺激よりも弱い第2の刺激を付与する、
ことを特徴とする歩行補助装置。 - 訓練者の脚部に歩行補助装置を装着し、該脚部の立脚及び遊脚を繰り返す歩行動作を補助する歩行補助装置であって、前記歩行補助装置が装着された脚部に対して刺激を付与する刺激付与手段を備える歩行補助装置の作動方法であって、
前記刺激付与手段は、前記訓練者の脚部の上腿に装着される上腿フレームに対して、該上腿フレームに膝関節部を介して連結され前記脚部の下腿に装着される下腿フレームを回動させる駆動手段であり、
状態検出手段が、前記歩行補助装置が装着された脚部の立脚状態及び遊脚状態を検出するステップと、
前記駆動手段が、前記状態検出手段により前記歩行補助装置が装着された脚部の遊脚状態が検出された場合、前記膝関節部に対して第1の振動を付与するステップと、
前記駆動手段が、前記状態検出手段により前記歩行補助装置が装着された脚部の立脚状態が検出された場合、前記膝関節部に対し振動を付与しない、又は、前記第1の振動よりも弱い第2の振動を付与するステップと、
を含む、ことを特徴とする歩行補助装置の作動方法。
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EP17158618.3A EP3222264B1 (en) | 2016-03-23 | 2017-03-01 | Walking assistance apparatus |
US15/449,515 US10561566B2 (en) | 2016-03-23 | 2017-03-03 | Walking assistance apparatus and walking training method |
CN201710167672.5A CN107374916B (zh) | 2016-03-23 | 2017-03-20 | 行走辅助装置和行走训练方法 |
KR1020170034511A KR101963019B1 (ko) | 2016-03-23 | 2017-03-20 | 보행 보조 장치 및 그 작동 방법 |
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EP1727591B1 (en) | 2004-02-05 | 2009-04-29 | Motorika Ltd. | Neuromuscular stimulation |
DE102004023981A1 (de) * | 2004-05-14 | 2005-12-08 | Olthof, Alexander Olde | Vorrichtung zum Bewegungstraining |
JP5244348B2 (ja) * | 2007-09-04 | 2013-07-24 | 国立大学法人 筑波大学 | 装着式動作補助装置及びその制御方法 |
JP5343708B2 (ja) | 2009-05-27 | 2013-11-13 | トヨタ自動車株式会社 | 着地タイミング特定装置及び歩行補助装置 |
JP2012095793A (ja) | 2010-11-01 | 2012-05-24 | Toyota Motor Corp | 歩行訓練システム |
JP5316708B2 (ja) * | 2010-12-16 | 2013-10-16 | トヨタ自動車株式会社 | 歩行支援装置 |
JP5737191B2 (ja) * | 2012-01-05 | 2015-06-17 | トヨタ自動車株式会社 | 生体動作補助装置、その制御方法及び制御プログラム |
KR101302364B1 (ko) * | 2012-04-30 | 2013-09-06 | 근로복지공단 | 하지보조기용 보행감각 인지장치 |
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US20170273852A1 (en) | 2017-09-28 |
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