JP6443301B2 - Walking training device - Google Patents

Description

  The present invention relates to a gait training device that performs gait training for trainees.

  2. Description of the Related Art A walking training device that performs walking training by attaching a walking assist device that assists the trainer's walking motion to the trainer's legs is known (see, for example, Patent Document 1).

JP 2012-095793 A

  Since the walking assist device has a certain weight, the weight is a burden on the trainee wearing the walking assist device. Furthermore, when the trainee performs a walking motion with the walking assistance device attached to the leg, the leg receives an inertial force from the walking assistance device at the timing of swinging the leg forward. . For this reason, the subject that a trainer takes an excessive burden has arisen. Therefore, there is a desire to implement walking assist that reduces the burden on such trainers with an assist force that is not excessive or insufficient.

  The present invention has been made in view of such problems, and can reduce the burden on the trainer at the timing of starting swinging while excluding the weight of the walking assist device. The main object of the present invention is to provide a walking training apparatus that can be implemented with an assist force that is not excessive or insufficient.

In order to achieve the above object, one embodiment of the present invention provides:
A walking assistance device that is attached to the leg of the trainee and assists the walking motion of the trainer;
Tension means for pulling the wire connected to the leg portion directly or via the walking assist device upward and forward;
By controlling the pulling means to pull the wire with a first pulling force, the weight of the walking assist device is reduced,
At the timing immediately before the trainee's gait state changes from a standing leg to a free leg, the wire is pulled with a second tension set larger than the first tension instead of the first tension. A tension control means for controlling the tension means;
A walking training apparatus comprising:
Based on a load applied to the foot part on which the trainer's walking assistance device is mounted, further comprising a weight detection means for detecting the weight of the foot part,
While the tension control means detects the weight of the foot portion by the weight detection means while controlling the tension force of the tension means to the second tension force, the tension control means applies the tension force by the tension means to the first force. Control to return from the two tensile forces to the first tensile force,
This is a walking training device characterized by that.
According to this aspect, it is possible to reduce the burden on the trainer at the timing of starting to swing while excluding the weight of the walking assist device. Furthermore, the period during which the assist force due to the second tensile force is increased is continued until the weight of the foot on the side on which the trainer's walking assist device is mounted is detected. Therefore, the necessary assist force can be sufficiently secured. Furthermore, it returns to the first tensile force from the second tensile force with detection of the pulling of the foot on the side where the trainer's walking assist device is mounted, and the increase of the assist force is completed. For this reason, it is possible to suppress excessive application of the assist force. Therefore, the trainer's walking assist can be carried out with an assist force that is not excessive or insufficient. That is, it is possible to reduce the burden on the trainer at the timing of starting swinging while excluding the weight of the walking assist device, and further, the trainer's walking assist can be performed with an assist force that is not excessive or insufficient.

  According to the present invention, while reducing the weight of the walking assistance device, it is possible to reduce the burden on the trainer at the timing of starting the swing, and further, the walking training device that can perform the walking assist of the trainer with an assist force that is not excessive or insufficient. Can be provided.

1 is a perspective view illustrating a schematic configuration of a walking training apparatus according to an embodiment of the present invention. It is a perspective view which shows the schematic structure of a walking assistance apparatus. It is a block diagram showing a schematic system configuration of a control device concerning one embodiment of the present invention. It is a figure which shows an example of the part for the assist increase when the extraction timing becomes late. It is a figure which shows an example of the part for an increase in assist when a drawing timing becomes early. 1 is a block diagram illustrating a schematic system configuration of a computer according to an embodiment of the present invention. It is a figure which shows an example of an oscillation start timing and a drawing timing. It is a flowchart which shows the flow of the walking training method which concerns on one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing a schematic configuration of a walking training apparatus according to an embodiment of the present invention. The walking training device 1 according to the present embodiment is a device for performing walking training for a trainee such as a stroke hemiplegic patient. The walking training device 1 includes a walking assist device 2 attached to a trainee's leg, and a training device 3 that performs walking training for the trainer.

  The walking assist device 2 is attached to, for example, an affected leg of a trainee who performs walking training, and assists the trainee in walking (FIG. 2). The walking assist device 2 includes an upper leg frame 21, a lower leg frame 23 connected to the upper leg frame 21 via a knee joint part 22, and a foot frame 25 connected to the lower leg frame 23 via an ankle joint part 24. And a motor unit 26 that rotationally drives the knee joint 22 and an adjustment mechanism 27 that adjusts the movable range of the ankle joint 24. In addition, the structure of the said walking assistance apparatus 2 is an example, and is not restricted to this. For example, the walking assist device 2 may include a motor unit that rotationally drives the ankle joint portion 24.

  The foot frame 25 is provided with a sole load sensor unit that detects a load applied to the soles of the feet of the trainee. The sole load sensor unit has a plurality of (for example, four) vertical load sensors that detect a vertical load applied to the sole of the foot of the trainee.

  The upper leg frame 21 is attached to the upper leg of the trainee's leg, and the lower leg frame 23 is attached to the lower leg of the trainee's leg. The upper thigh frame 21 is provided with an upper thigh brace 212 for fixing the upper thigh, for example. The upper thigh orthosis 212 is fixed to the upper thigh using, for example, Velcro (registered trademark). Thereby, it can prevent that the walk assistance apparatus 2 shifts | deviates from the trainee's leg part to the left-right direction or the up-down direction. The upper thigh frame 21 is provided with a horizontally long first frame 211 extending in the left-right direction for connecting a wire 36 of a first tension portion 33 described later.

  In addition, the connection part of the said 1st tension | pulling part 33 is an example, and is not restricted to this. For example, the wire 36 of the first tension part 33 may be connected to the upper thigh brace 212, and the tension point of the first tension part 33 can be provided at an arbitrary position of the walking assist device 2.

  The motor unit 26 assists the trainee's walking by rotationally driving the knee joint portion 22 in accordance with the trainee's walking motion. In addition, the structure of the said walking assistance apparatus 2 is an example, and is not restricted to this. Any walking assistance device that can be attached to a trainee's leg and can assist walking is applicable.

  The training device 3 includes a treadmill 31, a frame body 32, first and second tension portions 33 and 34, and a control device 35. The treadmill 31 rotates the ring-shaped belt 311. The trainee rides on the belt 311 and walks according to the movement of the belt 311 and performs the walking training.

  The frame body 32 includes two pairs of pillar frames 321 erected on the treadmill 31, a pair of front and rear frames 322 connected to each pillar frame 321 and extending in the front-rear direction, and left and right connected to each front and rear frame 322. And three left and right frames 323 extending in the direction. The configuration of the frame body 32 is not limited to this. The frame main body 32 may have an arbitrary frame configuration as long as first and second tension portions 33 and 34 described later can be appropriately fixed.

  The front left and right frame 323 is provided with a first tension portion 33 that pulls the wire 36 upward and forward. The first tension portion 33 is a specific example of a tension means. The 1st tension | pulling part 33 is comprised, for example from the mechanism which winds and rewinds the wire 36, the motor which drives this mechanism, etc. One end of the wire 36 pulled by the first pulling portion 33 is connected to the walking assist device 2. The first tension unit 33 pulls the walking assist device 2 upward and forward via the wire 36.

  The vertically upward component of the tensile force by the first tension part 33 supports the weight of the walking assist device 2. By the horizontal front component of the tensile force by the first tension portion 33, the leg portion is assisted to swing out. Thereby, the trainer's walking load at the time of walking training can be reduced.

  The 2nd tension | pulling part 34 is provided in the back left and right flame | frame 323, and pulls the wire 37 upwards. One end of the wire 37 is connected to, for example, a belt attached near the waist of the trainee. The 2nd tension | pulling part 34 is comprised from the mechanism etc. which wind up and rewind the wire 37, the motor which drives this mechanism, etc., for example. The second pulling portion 34 pulls the trainee's lower back through the wire 37. Thereby, the load by the trainee's own weight can be reduced. The 1st and 2nd tension | pulling parts 33 and 34 are each connected to the control apparatus 35 via the wiring. In addition, the structure which does not have the 2nd tension | pulling part 34 may be sufficient as the training apparatus 3. FIG.

  The control device 35 is a specific example of a tension control unit. The control device 35 controls the tensile force of the first and second tension portions 33 and 34, the driving of the treadmill 31, and the walking assist device 2. The control device 35 stores, for example, a CPU (Central Processing Unit) that performs arithmetic processing, control processing, and the like, a ROM (Read Only Memory) that stores a calculation program executed by the CPU, a control program, and various data. A hardware configuration is mainly composed of a microcomputer including a RAM (Random Access Memory) and an interface unit (I / F) for inputting / outputting signals to / from the outside. The CPU, ROM, RAM, and interface unit are connected to each other via a data bus or the like.

  FIG. 3 is a block diagram illustrating a schematic system configuration of the control device according to the present embodiment. The control device 35 includes, for example, a leg load control unit 351 that controls the first tension portion 33, a human load control unit 352 that controls the second tension portion 34, and a leg control that controls the walking assist device 2. The unit 353 includes a treadmill control unit 354 that controls the treadmill 31, a computer (Personal Computer) 355 that controls these units, and an operation panel 356 for operating the computer 355. The operation panel 356 displays information such as training instructions, training menus, training information (walking speed, biological information, etc.). The operation panel 356 is configured as a touch panel, for example, and the trainee can input various information (such as the tensile force of the first and second tension units 33 and 34) via the operation panel 356.

  By the way, the start of swinging out of the leg during walking by the trainee is also the timing at which the leg that is moving backward is reversed to forward movement (the gait state of the trainee changes from a standing leg to a free leg). For this reason, the leg part with which the walking assistance apparatus was mounted | worn will receive the inertial force of back from a walking assistance apparatus at the timing of this inversion. However, although the conventional walking training apparatus reduces the load of gravity of the walking assist apparatus with respect to the trainee's walking, it does not reduce the load of the inertial force. For this reason, an excessive burden is placed on the leg of the trainee at the start of swinging out of the leg during walking.

  On the other hand, the control device 35 according to the present embodiment reduces the weight of the walking assistance device 2 by controlling the first tension portion 33 so as to pull the wire 36 with the first tensile force, and also trains the trainer. At the timing immediately before the gait state changes from the standing leg to the free leg, the wire 36 is pulled with a second tensile force set larger than the first tensile force instead of the first tensile force. 1 The tension part 33 is controlled. Thereby, it is possible to reduce the burden on the trainer at the timing of starting the swinging while waiving the weight of the walking assist device 2.

  Further, for example, as a result of the above-mentioned walking assist performed by the leg part to which the trainer's walking assist device is attached, the leg part is easily lifted and the timing at which the leg part stands up to the free leg (extraction timing) is normal. When it becomes earlier, if the same walk assist as the normal timing is performed, the assist force becomes excessive. On the other hand, when the above-mentioned walking assist is performed, the leg portion is easily lifted, and when the timing is later than usual, if the same walking assistance as the normal timing is performed, the assist force is insufficient. Therefore, there is a demand to implement walking assist that reduces the burden on the trainer as described above with an assist force that is not excessive or insufficient.

On the other hand, the control device 35 according to the present embodiment controls the foot portion on the side where the trainer's walking assist device 2 is worn while controlling the tensile force of the first tensile portion 33 to the second tensile force. When the pulling is detected, control is performed to return the tensile force by the first tensile unit 33 from the second tensile force to the first tensile force.
Thereby, the period which increases the assist force by a 2nd tensile force is continued until the weight extraction of the foot | leg part by which the trainer's walking assistance apparatus 2 was mounted | worn is detected. Therefore, a sufficient assist force for the load of the inertial force can be sufficiently ensured. Furthermore, it returns from the second tensile force to the first tensile force with the detection of the pulling of the foot on the side where the trainer's walking assist device 2 is mounted, and the increase of the assist force is completed. For this reason, it is possible to suppress excessive application of the assist force. That is, the trainer's walking assist can be performed with an assist force that is not excessive or insufficient.

  For example, when the pulling timing of the leg portion on which the trainer's walking assist device 2 is worn becomes later than usual, the pulling timing is detected during the period in which the assist force due to the second tensile force is increased as shown in FIG. The necessary assist force can be sufficiently secured. On the other hand, when the pulling timing of the leg portion on which the trainer's walking assist device 2 is worn becomes earlier than usual, as shown in FIG. 5, the pulling timing is detected and the second pulling force is changed to the first pulling force. The increase in the assist force is immediately terminated, and it is possible to suppress excessive application of the assist force. Thus, the trainer's walking assist can be performed with an assist force that is not excessive or insufficient.

  FIG. 6 is a block diagram showing a schematic system configuration of a computer according to the present embodiment. The computer 355 according to the present embodiment includes a motion detection unit 357 that detects the timing of starting swinging out of the leg portion on which the trainer's walking assist device 2 is mounted, and a tension that calculates a tensile force command value for the first tension unit 33. It has the force calculation part 358 and the weight detection part 359 which detects the weight of a trainee's leg | foot part.

The motion detection unit 357 detects the timing for starting swinging (hereinafter referred to as swinging start timing) immediately before the gait state of the trainee changes from the standing leg to the swinging leg (FIG. 7).
The motion detection unit 357 detects the swing start timing based on, for example, the position of the load center (COP: Center of Pressure) of the sole during the gait motion of the user (hereinafter referred to as COP position). The motion detection unit 357 continuously calculates the COP position based on the load on the sole of the foot frame 25 detected by the vertical load sensor of the sole load sensor unit of the foot frame 25 of the walking assist device 2. .

For example, the motion detection unit 357 sets the position of the vertical load sensor as (x1, y1), (x2, y2), (x3, y3), (x4, y4), and uses the following formula to calculate the COP position (x _COP , Y _COP ).

  An XY coordinate system is set with the center of the sole of the foot frame 25 as the origin. A toe region, an intermediate region, and a heel region are set on the sole of the XY coordinate system. A region where the value of the X coordinate is equal to or greater than the toe region determination threshold on the sole is a toe region. A region where the value of the X coordinate is equal to or less than the heel region determination threshold is a heel region. A region having an X coordinate value larger than the heel region determination threshold and smaller than the toe region determination threshold (a region between the toe region and the heel region) is an intermediate region. The toe area determination threshold value and the heel area determination threshold value are obtained experimentally in advance and set in the ROM, RAM, or the like. The toe area determination threshold and the heel area determination threshold can be arbitrarily set and changed by the user via the operation panel 356 or the like. In the XY coordinate system, the motion detection unit 357 detects the swing start timing when the calculated COP position transitions from the state where the calculated COP position is located within the sole region of the sole to the toe region.

  The motion detection unit 357 has a predetermined storage amount before and after the wire storage amount of the first tension portion 33 changes from the drawn state to the winding state (hereinafter referred to as a swing timing determination threshold). When it becomes the following, you may detect the swing start timing to the front of a leg part. The timing at which the wire 36 of the first tension portion 33 changes from the drawn state to the wound state can be experimentally obtained in advance. Then, the amount of wire stored at the timing before and after the change is obtained, and set in the ROM, RAM, etc. as the ejection timing determination threshold.

  The motion detection unit 357 may detect the swing start timing when a predetermined time has elapsed since the foot on the leg side to which the walking assist device 2 is attached transitions from the ground-off state to the grounded state. The motion detection unit 357 adds, for example, the load value of the sole of the foot frame 25 detected by each vertical load sensor of the sole load sensor unit of the foot frame 25 of the walking assist device 2 to the sole. Calculate the total amount of foot sole load applied. The motion detection unit 357 determines that the calculated total foot load is greater than the ground contact determination threshold value, and determines that the ground is in a grounded state, and if the total sole load amount is not greater than the ground contact determination threshold value.

  The motion detection unit 357 outputs a detection signal to the tensile force calculation unit 358 when detecting the start timing of the forward swing of the leg portion to which the walking assist device 2 is attached.

  The tensile force calculation unit 358 calculates a first tensile force command value for the first tensile unit 33 and outputs the calculated first tensile force command value to the first tensile unit 33. The first pulling unit 33 pulls the wire 36 of the walking assistance device 2 with the first pulling force f in accordance with the first pulling force command value output from the pulling force calculation unit 358. At this time, the vertically upward component f2 of the first tensile force f by the first tension portion 33 supports the weight of the walking assist device 2. With the horizontal front component f1 of the first tensile force f by the first tension portion 33, the swinging out of the leg portion is assisted. That is, the first tensile force command value indicates that the vertical upward component f2 of the first tensile force f supports the weight of the walking assist device 2 and the first tensile force f at the same time with respect to the normal walking motion of the user. The horizontal front component f1 is set so as to optimally assist the swinging out of the leg.

  However, as described above, at the timing of starting to swing out the leg during walking, a backward inertial force is received from the walking assist device 2, and a load greater than the normal walking motion is applied to the leg at this starting timing. In contrast, when the tensile force calculation unit 358 according to the first embodiment receives the detection signal from the motion detection unit 357, the tensile force command value is changed from the normal first tensile force command value to the second tensile force command value. Increase for a predetermined time. The first pulling unit 33 pulls the wire 36 of the walking assistance device 2 with the second pulling force according to the second pulling force command value output from the pulling force calculation unit 358.

  As a result, the tensile force of the first tension portion 33 is increased from the first tension force to the second tension force only when receiving the inertial force at the timing of starting to swing the leg portion. Thereby, the load of the inertia force in the swing start timing of a leg part can be reduced.

  The weight detection unit 359 is a specific example of the weight detection means. The weight detection unit 359 detects the weight of the trainee's foot (pumping timing) based on the load applied to the trainee's foot (FIG. 7). For example, the weight detection unit 359 performs training when the total load amount of the foot, which is the sum of the load values detected by the vertical load sensors of the foot load sensor unit of the foot frame 25 of the walking assist device 2, is equal to or less than the threshold value. The weight of the person's foot is detected. Note that, for example, the threshold value is experimentally obtained in advance as a value when the foot portion is in a weighted state, and is set in the ROM or RAM. When detecting the weight of the trainee's foot, the weight detection unit 359 outputs a detection signal to the tensile force calculation unit 358. Upon receiving the detection signal from the weight detection unit 359, the tensile force calculation unit 358 changes the tensile force command value from the second tensile force command value to the first tensile force command value, and uses the changed first tensile force command value. Output to the first tension part 33.

FIG. 8 is a flowchart showing a flow of the walking training method according to the present embodiment.
The motion detection unit 357 detects the timing of starting to swing forward the leg portion to which the walking assist device 2 is attached (step S101). When the motion detection unit 357 detects the forward swing start timing of the leg to which the walking assist device 2 is attached (YES in step S101), the tensile force calculation unit 358 determines the tensile force command value as the first tensile force command. The value is increased from the value to the second tension force command value, and the increased second tension force command value is output to the first tension portion 33 (step S102). On the other hand, when the motion detection unit 357 does not detect the start of swinging forward of the leg portion to which the walking assist device 2 is attached (NO in step S101), the tensile force calculation unit 358 is configured to output the normal first tensile force command value. Is output to the first tension portion 33 (step S103). The processing returns to the above (step S101).

  The weight detection unit 359 detects the weight of the trainee's foot based on the load applied to the trainee's foot (step S104). When the weight detection unit 359 detects the weight of the trainee's foot (YES in step S104), the tensile force calculation unit 358 changes the tensile force command value from the second tensile force command value to the first tensile force command value. The changed first tension force command value is output to the first tension unit 33 (step S105). On the other hand, when the weight detection unit 359 does not detect the weight of the trainee's foot (NO in step S104), the tensile force calculation unit 358 maintains the tensile force command value at the second tensile force command value. 2 The tensile force command value is output to the first tension part 33 (step S106).

As mentioned above, in this embodiment, while controlling the 1st tension | tensile_strength part 33 to pull the wire 36 with a 1st tension force, while reducing the weight of the walk assistance apparatus 2, a trainee's gait state is from a stance stand. The first tension portion 33 is controlled so that the wire 36 is pulled with a second tensile force set larger than the first tensile force instead of the first tensile force at the timing immediately before the change to the free leg. .
Thereby, it is possible to reduce the burden on the trainer at the timing of starting the swinging while waiving the weight of the walking assist device 2.
Furthermore, in the present embodiment, while the tensile force of the first tension part 33 is controlled to the second tensile force, when the weight of the foot part on which the trainer's walking assistance device 2 is attached is detected, Control which returns the tension | tensile_strength by the 1st tension | tensile_strength part 33 from 2nd tension | tensile_strength to 1st tension | tensile_strength is performed.
Thereby, the period which increases the assist force by a 2nd tensile force is continued until the weight extraction of the foot | leg part by which the trainer's walking assistance apparatus 2 was mounted | worn is detected. Therefore, a sufficient assist force for the load of the inertial force can be sufficiently ensured. Furthermore, it returns from the second tensile force to the first tensile force with the detection of the pulling of the foot on the side where the trainer's walking assist device 2 is mounted, and the increase of the assist force is completed. For this reason, it is possible to suppress excessive application of the assist force. Therefore, the trainer's walking assist can be carried out with an assist force that is not excessive or insufficient. That is, it is possible to reduce the burden on the trainer at the timing of starting the swing while excluding the weight of the walking assist device 2, and further, the trainer's walking assist can be performed with an assist force that is not excessive or insufficient.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  1 walking training device, 2 walking assist device, 3 training device, 21 upper leg frame, 22 knee joint part, 23 lower leg frame, 24 ankle joint part, 25 foot frame, 26 motor unit, 27 adjustment mechanism, 31 treadmill, 32 frame main body, 33 first tension part, 34 second tension part, 35 control device, 36 wire, 37 wire, 357 motion detection part, 358 tensile force calculation part, 359 weight detection part

Claims (1)

A walking assistance device that is attached to the leg of the trainee and assists the walking motion of the trainer;
Tension means for pulling the wire connected to the leg portion directly or via the walking assist device upward and forward;
By controlling the pulling means to pull the wire with a first pulling force, the weight of the walking assist device is reduced,
Instead of the first tensile force, at the timing immediately before the trainee's gait state changes from a standing leg to a swinging leg, the first inertial force load from the walking assist device is reduced . A tension control means for controlling the tension means so as to pull the wire with a second tension force set larger than the tension force;
A walking training apparatus comprising:
Based on a load applied to the foot part on which the trainer's walking assistance device is mounted, further comprising a weight detection means for detecting the weight of the foot part,
While the tension control means detects the weight of the foot portion by the weight detection means while controlling the tension force of the tension means to the second tension force, the tension control means applies the tension force by the tension means to the first force. Control to return from the two tensile forces to the first tensile force,
A walking training apparatus characterized by that.

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