JP6777751B2 - 歩行障害支援装置及び歩行障害支援方法 - Google Patents
歩行障害支援装置及び歩行障害支援方法 Download PDFInfo
- Publication number
- JP6777751B2 JP6777751B2 JP2018543577A JP2018543577A JP6777751B2 JP 6777751 B2 JP6777751 B2 JP 6777751B2 JP 2018543577 A JP2018543577 A JP 2018543577A JP 2018543577 A JP2018543577 A JP 2018543577A JP 6777751 B2 JP6777751 B2 JP 6777751B2
- Authority
- JP
- Japan
- Prior art keywords
- wearer
- walking
- unit
- drive unit
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 206010017577 Gait disturbance Diseases 0.000 title claims description 64
- 238000000034 method Methods 0.000 title claims description 35
- 210000002683 foot Anatomy 0.000 claims description 111
- 230000033001 locomotion Effects 0.000 claims description 98
- 210000002414 leg Anatomy 0.000 claims description 52
- 238000001514 detection method Methods 0.000 claims description 51
- 210000000629 knee joint Anatomy 0.000 claims description 34
- 208000024891 symptom Diseases 0.000 claims description 31
- 230000005484 gravity Effects 0.000 claims description 23
- 210000000689 upper leg Anatomy 0.000 claims description 11
- 210000004744 fore-foot Anatomy 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 238000009499 grossing Methods 0.000 claims description 5
- 210000000548 hind-foot Anatomy 0.000 claims description 5
- 210000001872 metatarsal bone Anatomy 0.000 claims 1
- 230000008014 freezing Effects 0.000 description 82
- 238000007710 freezing Methods 0.000 description 82
- 208000018737 Parkinson disease Diseases 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 15
- VYFYYTLLBUKUHU-UHFFFAOYSA-N dopamine Chemical compound NCCC1=CC=C(O)C(O)=C1 VYFYYTLLBUKUHU-UHFFFAOYSA-N 0.000 description 14
- 230000007423 decrease Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 10
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000007621 cluster analysis Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 8
- 208000027089 Parkinsonian disease Diseases 0.000 description 7
- 206010034010 Parkinsonism Diseases 0.000 description 7
- 229960003638 dopamine Drugs 0.000 description 7
- 230000004044 response Effects 0.000 description 7
- 210000003371 toe Anatomy 0.000 description 7
- 230000007704 transition Effects 0.000 description 7
- 208000035475 disorder Diseases 0.000 description 6
- 230000005021 gait Effects 0.000 description 6
- 210000003141 lower extremity Anatomy 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 208000002740 Muscle Rigidity Diseases 0.000 description 5
- 230000003321 amplification Effects 0.000 description 5
- 210000001624 hip Anatomy 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000003199 nucleic acid amplification method Methods 0.000 description 5
- 206010044565 Tremor Diseases 0.000 description 4
- 210000004227 basal ganglia Anatomy 0.000 description 4
- 238000013500 data storage Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 4
- 208000016285 Movement disease Diseases 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 239000005557 antagonist Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 206010008118 cerebral infarction Diseases 0.000 description 3
- 210000003792 cranial nerve Anatomy 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 210000002569 neuron Anatomy 0.000 description 3
- 230000033764 rhythmic process Effects 0.000 description 3
- 210000004281 subthalamic nucleus Anatomy 0.000 description 3
- 230000002747 voluntary effect Effects 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 208000004552 Lacunar Stroke Diseases 0.000 description 2
- 206010051078 Lacunar infarction Diseases 0.000 description 2
- 206010068100 Vascular parkinsonism Diseases 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000004918 carbon fiber reinforced polymer Substances 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 230000001144 postural effect Effects 0.000 description 2
- 210000000976 primary motor cortex Anatomy 0.000 description 2
- 210000002637 putamen Anatomy 0.000 description 2
- 230000011514 reflex Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000008093 supporting effect Effects 0.000 description 2
- 210000001103 thalamus Anatomy 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- 230000021542 voluntary musculoskeletal movement Effects 0.000 description 2
- 206010001541 Akinesia Diseases 0.000 description 1
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 101100365087 Arabidopsis thaliana SCRA gene Proteins 0.000 description 1
- 206010006100 Bradykinesia Diseases 0.000 description 1
- 241001573498 Compacta Species 0.000 description 1
- 208000034656 Contusions Diseases 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 101100333868 Homo sapiens EVA1A gene Proteins 0.000 description 1
- 208000006083 Hypokinesia Diseases 0.000 description 1
- 206010061216 Infarction Diseases 0.000 description 1
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 206010049816 Muscle tightness Diseases 0.000 description 1
- 206010028851 Necrosis Diseases 0.000 description 1
- 102100031798 Protein eva-1 homolog A Human genes 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 101100310674 Tenebrio molitor SP23 gene Proteins 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 101100438139 Vulpes vulpes CABYR gene Proteins 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 210000001638 cerebellum Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 235000013365 dairy product Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000001647 drug administration Methods 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000007574 infarction Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 206010025482 malaise Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002483 medication Methods 0.000 description 1
- 210000001259 mesencephalon Anatomy 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000017074 necrotic cell death Effects 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 208000015122 neurodegenerative disease Diseases 0.000 description 1
- 239000002858 neurotransmitter agent Substances 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 210000001152 parietal lobe Anatomy 0.000 description 1
- 230000007310 pathophysiology Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 210000002442 prefrontal cortex Anatomy 0.000 description 1
- 230000004800 psychological effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000001020 rhythmical effect Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 210000003523 substantia nigra Anatomy 0.000 description 1
- 210000004243 sweat Anatomy 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5084—Acceleration sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Transplantation (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Description
いわゆる「すくみ足」は、歩こうとする意志があるにも関わらず、短時間で時折生じる下肢の前方への進行の欠如または著しい減少として定義される。症状として、足を地面から離すことができない、下肢に小刻みな震えが生じることなどが挙げられ、歩行開始や方向転換、椅子やベッドはどの移動目標の手前、狭い場所を通るなどの状況で発生し易い傾向がある。
図4は、本実施の形態による外骨格型の単脚用の歩行障害支援装置1を示す。歩行障害支援装置1は、装着者の左脚の膝関節を中心に装着されるパワーユニット2と、当該装着者の腰に装着される腰ベルト3と、当該装着者の両足に装着される一対の専用靴4A,4Bとを有する。
図5に本実施の形態による歩行障害支援装置1の制御系システムの構成を示す。制御系システムは、主としてパワーユニット2に内蔵されている。制御系システムは、装置全体の統括制御を司る制御装置20と、当該制御装置20の指令に応じて各種データが読書き可能にデータベース化されているデータ格納部21と、装着者に対してアシスト力を付与するアクチュエータからなる駆動部10とを有する。
上述した図2に示すように、歩行障害支援装置1において、制御装置20の自律的制御部80は、パワーユニット2装着側の専用靴4A,4BのFRFセンサ50により検出された足裏面の前足部に加わる荷重のピーク値の発生タイミングのうち、パワーユニット2が装着された左脚についての発生タイミングを歩行周期として算出する。
これに対して、上述したような装着者の運動症状に伴う歩行障害の発現予兆として検出された場合、パワーユニット2が装着者の膝関節を屈曲させるために、自律的制御部80は、一対の専用靴4A,4Bの各FRFセンサ50により測定された荷重変化により、装着者の歩行動作時の重心位置を検出する。
実際に図10に示すように、本実施の形態による歩行障害支援装置1を装着者が装着した状態で実験を行った。装着者は1名とし、年齢24歳、身長165cm、体重62kgの健常な男性とした。この装着者は0mから5mの区間を正常歩行し、5mから7.5mの区間ですくみ足の模擬動作を行った。これら一連の動作を1回の施行とし、10回行った。この時、すくみ足の模擬動作は、短い歩幅での小刻み歩行を行うものとした。
上述の実験とは別に、図12に本実施の形態による歩行障害支援装置1を装着者が装着した状態で実験を行った。この装着者は0mから5mの区間を正常歩行した後、すくみ足の模擬動作として一歩小刻み歩行を行う。
本実施の形態においては、歩行障害支援装置1を、装着者の左脚の膝関節を中心にパワーユニット2を装着させる単脚構造とした場合について述べたが、本発明はこれに限らず、要は、外部からの動作支援によって脚を踏み出させるように動作アシストを行うことができれば、右脚用の単脚構造でも良く、さらには左脚及び右脚ともに両脚構造にしても良い。
Claims (6)
- 装着者の左右いずれかの脚の大腿部と下腿部とに装着されるフレーム同士を、当該装着者の膝関節に対応する回転軸を中心に相対的に駆動する駆動部と、
前記装着者の左右の足裏面に取り付けられ、当該各足裏面の前足部に加わる荷重を測定する足荷重測定部と、
前記足荷重測定部により測定された荷重のピーク値の発生タイミングのうち、前記駆動部の装着側の脚についての発生タイミングを歩行周期として算出する歩行周期算出部と、
前記歩行周期算出部により算出された歩行周期と直前の歩行に対する歩行周期の減少率との相関関係に基づいて、前記装着者の運動症状に伴う歩行障害の発現予兆を検出する発現予兆検出部と、
前記発現予兆検出部により前記歩行障害の発現予兆が検出された場合、前記装着者の膝関節に対して前記駆動部がアシスト動力を付与するように当該駆動部を制御する一方、前記歩行障害の発現予兆が検出されない場合、前記駆動部による駆動トルクが前記装着者の歩行動作を阻害しないように当該駆動部を制御する制御部と
を備えることを特徴とする歩行障害支援装置。 - 前記発現予兆検出部は、前記歩行周期算出部による歩行周期が所定回数以上連続して所定の閾値に満たない場合、前記装着者の運動症状に伴う歩行障害の発現予兆として検出する
ことを特徴とする請求項1に記載の歩行障害支援装置。 - 前記足荷重測定部は、前記装着者の左右の足裏面の前足部のみならず、中足部及び後足部に加わる荷重も測定し、
前記制御部は、前記足荷重測定部により測定された荷重変化により、前記装着者の歩行動作時の重心位置を検出しながら、当該重心位置が前記装着者における前記駆動部の非装着側の脚にあるタイミングに同期して、前記駆動部がアシスト動力を付与するように当該駆動部を制御する
ことを特徴とする請求項1又は2に記載の歩行障害支援装置。 - 前記制御部は、前記発現予兆検出部による発現予兆が検出された場合、前記駆動部に発生させるアシスト動力の大きさ及び継続時間を、前記装着者の歩行動作状態に合わせて調整する
ことを特徴とする請求項1〜3のいずれか1項に記載の歩行障害支援装置。 - 前記制御部は、前記駆動部による駆動トルクの生成開始時点から所定時間の間、所定の平滑化処理を行う
ことを特徴とする請求項4に記載の歩行障害支援装置。 - 前記制御部は、前記発現予兆検出部により発現予兆が検出されない期間は、前記駆動部に加わる粘性摩擦補償トルクと、前記フレームに加わる重力補償トルクの合計を、前記装着者の歩行動作を阻害しないための前記駆動部による駆動トルクとして作用させる
ことを特徴とする請求項1〜5のいずれか1項に記載の歩行障害支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016198418 | 2016-10-06 | ||
JP2016198418 | 2016-10-06 | ||
PCT/JP2017/011069 WO2018066151A1 (ja) | 2016-10-06 | 2017-03-17 | 歩行障害支援装置及び歩行障害支援方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2018066151A1 JPWO2018066151A1 (ja) | 2019-08-15 |
JP6777751B2 true JP6777751B2 (ja) | 2020-10-28 |
Family
ID=61831741
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018543577A Active JP6777751B2 (ja) | 2016-10-06 | 2017-03-17 | 歩行障害支援装置及び歩行障害支援方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11654035B2 (ja) |
EP (1) | EP3524221A4 (ja) |
JP (1) | JP6777751B2 (ja) |
WO (1) | WO2018066151A1 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101836636B1 (ko) * | 2016-05-19 | 2018-03-09 | 현대자동차주식회사 | 착용식 보행 보조 로봇 시스템 및 그 제어 방법 |
KR102536856B1 (ko) * | 2016-10-31 | 2023-05-25 | 삼성전자주식회사 | 보행 보조 장치 및 그 동작 방법 |
KR102546547B1 (ko) * | 2018-01-11 | 2023-06-22 | 삼성전자주식회사 | 보행 보조 방법 및 장치 |
US11298285B2 (en) | 2018-03-16 | 2022-04-12 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Ankle exoskeleton system and method for assisted mobility and rehabilitation |
CN108814617A (zh) * | 2018-04-26 | 2018-11-16 | 深圳市臻络科技有限公司 | 冻结步态识别方法和装置及步态检测仪 |
US11090801B2 (en) | 2018-05-11 | 2021-08-17 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Exoskeleton device |
US20210267834A1 (en) * | 2018-05-11 | 2021-09-02 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Exoskeleton device |
US11034016B2 (en) * | 2018-05-11 | 2021-06-15 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Exoskeleton device |
US11446200B1 (en) * | 2018-09-30 | 2022-09-20 | Eli Razon | Assisted walking device for human paralysis or weakness |
US11622905B2 (en) | 2018-12-10 | 2023-04-11 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Proportional joint-moment control for powered exoskeletons and prostheses |
KR20200094519A (ko) * | 2019-01-30 | 2020-08-07 | 삼성전자주식회사 | 정보 처리 장치 및 이의 동작 방법 |
CN110103215A (zh) * | 2019-04-12 | 2019-08-09 | 上海中研久弋科技有限公司 | 多节点协同感知外骨骼神经控制系统、方法、设备和介质 |
CN110193830B (zh) * | 2019-05-24 | 2022-10-11 | 上海大学 | 基于rbf神经网络的踝关节步态预测方法 |
CN110815191A (zh) * | 2019-12-02 | 2020-02-21 | 迈宝智能科技(苏州)有限公司 | 可穿戴腰部助力外骨骼 |
CN112237530A (zh) * | 2020-11-11 | 2021-01-19 | 深圳市迈步机器人科技有限公司 | 一种髋关节外骨骼的控制方法及控制系统 |
JP2023104654A (ja) * | 2022-01-18 | 2023-07-28 | Cyberdyne株式会社 | 歩行機能評価装置および歩行機能評価方法 |
JP2023104655A (ja) * | 2022-01-18 | 2023-07-28 | Cyberdyne株式会社 | 機能改善支援装置および機能改善支援方法 |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4390129B2 (ja) | 2003-04-30 | 2009-12-24 | 公立大学法人高知工科大学 | 足底圧を用いた下肢関節モーメント及び下肢筋張力の推定システム |
US20050107889A1 (en) * | 2003-11-18 | 2005-05-19 | Stephane Bedard | Instrumented prosthetic foot |
US7815689B2 (en) * | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
EP2226006B1 (en) * | 2007-12-27 | 2017-08-23 | University of Tsukuba | Detector for position of gravitational center and wearing-type motion assisting device equipped with detector for position of gravitational center |
JP5251270B2 (ja) | 2008-06-04 | 2013-07-31 | 三菱化学株式会社 | パーキンソン病の評価装置 |
JP5588738B2 (ja) | 2010-05-20 | 2014-09-10 | 本田技研工業株式会社 | 歩行運動補助装置 |
WO2012070134A1 (ja) * | 2010-11-25 | 2012-05-31 | トヨタ自動車株式会社 | 歩行支援装置 |
JP5642534B2 (ja) * | 2010-12-27 | 2014-12-17 | Cyberdyne株式会社 | 装着式動作補助装置、そのインタフェース装置及びプログラム |
US20140058299A1 (en) * | 2011-03-02 | 2014-02-27 | Yoshiyuki Sankai | Gait training device and gait training system |
JP2013043055A (ja) * | 2011-08-26 | 2013-03-04 | Tomohito Takubo | 歩行補助装置 |
WO2013049658A1 (en) | 2011-09-28 | 2013-04-04 | Northeastern University | Lower extremity exoskeleton for gait retraining |
JP6065441B2 (ja) * | 2012-07-27 | 2017-01-25 | 大日本印刷株式会社 | 情報生成装置並びに情報生成方法、情報生成用プログラム及び情報記録媒体 |
JP2014195510A (ja) * | 2013-03-29 | 2014-10-16 | 株式会社エクォス・リサーチ | 歩行補助装置 |
US10843332B2 (en) | 2013-05-31 | 2020-11-24 | President And Fellow Of Harvard College | Soft exosuit for assistance with human motion |
JP6229969B2 (ja) * | 2013-06-28 | 2017-11-15 | 株式会社スペース・バイオ・ラボラトリーズ | 歩行訓練支援装置、歩行訓練支援システムおよびプログラム |
JP6079585B2 (ja) * | 2013-11-25 | 2017-02-15 | トヨタ自動車株式会社 | 歩容のバランス評価装置 |
EP4104757A3 (en) * | 2013-12-09 | 2023-01-04 | President and Fellows of Harvard College | Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility |
EP3133998B1 (en) | 2014-04-21 | 2019-07-03 | The Trustees of Columbia University in the City of New York | Human movement research, therapeutic, and diagnostic devices, methods, and systems |
JP6295337B2 (ja) * | 2014-09-10 | 2018-03-14 | パナソニック株式会社 | 歩容データ管理システム、歩容データ管理方法、及び、歩行支援装置 |
KR101755820B1 (ko) * | 2015-08-10 | 2017-07-10 | 현대자동차주식회사 | 착용식 로봇의 제어방법 및 시스템 |
-
2017
- 2017-03-17 WO PCT/JP2017/011069 patent/WO2018066151A1/ja unknown
- 2017-03-17 US US16/340,268 patent/US11654035B2/en active Active
- 2017-03-17 EP EP17857991.8A patent/EP3524221A4/en active Pending
- 2017-03-17 JP JP2018543577A patent/JP6777751B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
WO2018066151A1 (ja) | 2018-04-12 |
US20200039061A1 (en) | 2020-02-06 |
JPWO2018066151A1 (ja) | 2019-08-15 |
EP3524221A4 (en) | 2020-05-27 |
US11654035B2 (en) | 2023-05-23 |
EP3524221A1 (en) | 2019-08-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6777751B2 (ja) | 歩行障害支援装置及び歩行障害支援方法 | |
Menz et al. | Acceleration patterns of the head and pelvis when walking on level and irregular surfaces | |
van Gelder et al. | The use of biofeedback for gait retraining: A mapping review | |
Sofianidis et al. | Effect of a 10-week traditional dance program on static and dynamic balance control in elderly adults | |
Yoon et al. | A novel walking speed estimation scheme and its application to treadmill control for gait rehabilitation | |
US8011229B2 (en) | Determining postural stability | |
US20230134637A1 (en) | Methods, devices and systems for providing stimulus to guide movement | |
Gravano et al. | A novel approach to mechanical foot stimulation during human locomotion under body weight support | |
US20180126158A1 (en) | Systems and Methods for Functional Restoration and Rehabilitation of Posture, Gait and Movement | |
KR20180047955A (ko) | 밸런스 제어 방법 및 장치 | |
Jellish et al. | A system for real-time feedback to improve gait and posture in Parkinson's disease | |
Lin et al. | Effect of plantar desensitization on postural adjustments prior to step initiation | |
Walker et al. | Sensory electrical stimulation improves foot placement during targeted stepping post-stroke | |
De Keersmaecker et al. | The effect of optic flow speed on active participation during robot-assisted treadmill walking in healthy adults | |
Schließmann et al. | Feasibility of visual instrumented movement feedback therapy in individuals with motor incomplete spinal cord injury walking on a treadmill | |
Kejonen | Body movements during postural stabilization: Measurements with a motion analysis system | |
Ditcharles et al. | Short-term effects of thoracic spine manipulation on the biomechanical organisation of gait initiation: a randomized pilot study | |
Abu-Faraj et al. | Characterization of plantar pressures in visually impaired individuals: A pilot study | |
Piriyakulkit et al. | Real-time gait event recognition for wearable assistive device using an IMU on thigh | |
Yu et al. | Development of abnormal gait detection and vibratory stimulation system on lower limbs to improve gait stability | |
Justine et al. | Sharp turning and corner turning: Comparison of energy expenditure, gait parameters, and level of fatigue among community-dwelling elderly | |
Ducharme et al. | An external focus of attention improves stability after a perturbation during a dynamic balance task | |
Ma et al. | Improving postural control using a portable plantar pressure-based vibrotactile biofeedback system | |
Yamamoto et al. | Effects of caloric vestibular stimulation on head and trunk movements during walking | |
Pérez-Nombela et al. | Physiological evaluation of different control modes of lower limb robotic exoskeleton h2 in patients with incomplete spinal cord injury |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190405 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20190405 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190617 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200407 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200430 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20200929 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20201008 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6777751 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |