JP6777943B2 - Walking training device - Google Patents

Description

The present invention relates to a walking training device, and more particularly to a walking training device used in rehabilitation medicine.

Gait stability is a major goal of rehabilitation treatment. In rehabilitation intervention, we aim to obtain walking stability by actually repeating walking training on flat ground and treadmills. Walking training is an intervention method that is frequently used for the purpose of preventing nursing care, but from the viewpoint of motor learning, in repeated practice with a certain walking style, the movement style may suddenly change due to the influence of the environment, or disturbance may occur. Adaptation when joining is difficult to learn. Walking training, which is performed in conventional rehabilitation, may not always be an effective means of getting rid of long-term care insurance.

In other words, in walking training, it is necessary to acquire the ability to respond to changing environments, but in rehabilitation situations, it is normal to repeat a certain walking pattern while considering falls, etc., but then environmental changes There is a problem that it becomes learning of exercise strategy with low adaptability to disturbance.

In recent years, motor learning that processes various sensory noises has been attracting attention as opposed to traditional learning in which the same movement is repeated. Non-Patent Document 1 describes improvement of attitude control ability by practicing a plurality of types of simple exercise programs, and Non-Patent Document 2 describes motor learning to improve adaptability to environmental changes and disturbances by coping with sensory noise. It is stated that can be realized. Compared to the conventional method of repeating movements, more realistic and effective motor learning is that the learner searches for performance by processing various sensory noises without repeating a certain movement pattern. There is learning that incorporates various motor patterns for that purpose. This idea is also considered to be effective in rehabilitation by walking training.

As described above, the existing method of practicing the walking pattern by repeating it uniformly has a low adaptability to changes in the surrounding environment and disturbances. Here, balance exercises and the like for obtaining stable walking are carried out separately from walking training, but it is considered that it is more efficient to be able to carry out at the same time during walking training and to contribute to the acquisition of walking stability. .. Therefore, we considered providing a walking training system that incorporates motor learning (such as incorporating a lateral balance task during walking) that processes sensory noise in order to improve the ability to adapt to environmental changes and disturbances.

There are many prior patent documents on walking training devices using treadmills, but none have adopted the viewpoint of incorporating balance training into walking training. For example, Patent Document 1 relates to a walking training system that enables rehabilitation with a learning effect for environmental adaptation as fall prevention, and displays video data of a walking course including obstacles to a trainee. By detecting the height of the toe of the trainee without contacting the trainee and comparing the toe height detection data with the height data of the obstacle, the trainee straddles the obstacle. Although it is stated that it is possible to determine whether or not the above-mentioned viewpoint has been obtained.

Patent Documents 2 and 3 describe a walking training device provided with belts that run independently on the left and right for the purpose of rehabilitation, etc., but the left and right feet of the trainee are placed on the left and right belts, respectively. It is not something that the trainee who is walking transfers between the left and right belts (the person who is walking with his left and right feet on the same belt).

JP 2009-219508 JP-A-10-243979 JP 2011-50451

James EG. Short-term differential training decreases postural sway. Gait Posture (2013), http://dx.doi.org/10.1016/j.gaitpost.2013.06.020 Principles of sensorimotor learning, Daniel M. Wolpert, and et al., NATURE REVIEWS, NEUROSCIENCE VOLUME 12, DECEMBER 2011, 739-751

An object of the present invention is to provide a walking training device that enables a trainee to improve his / her ability to adapt to environmental changes and disturbances.

The technical means adopted by the present invention is
At least two first walking surfaces in parallel, at least two endless belts providing a second walking surface, and
Multiple targets for allowing the trainee while walking to move a part of the body closer to the selected target with both feet on one of the walking surfaces.
A target instruction means for instructing the trainee while walking to indicate the selected target, and
With
The moving speed of the first walking surface and the moving speed of the second walking surface can be set independently.
The plurality of targets are accessible to one or more first targets that are accessible to the body part of the trainee on the first walking surface, and to the body parts of the trainee on the second walking surface. Includes one or more secondary targets,
It is a walking training device.

In the walking training device according to the present invention, when a second target (T3, T4) is instructed to a trainee walking on the first walking surface, the first target is given to the trained person walking on the second walking surface. When (T1, T2) is instructed, the trainee will move laterally between the first walking surface and the second walking surface.
The walking training device according to the present invention moves both feet from the first walking surface to the second walking surface when approaching the second target (T3, T4) after approaching the first target (T1, T2). It is necessary to transfer, and after approaching the second target (T3, T4), it is necessary to transfer both feet from the second walking surface to the first walking surface when approaching the first target (T1, T2). The target (T1 to T4) is installed as described above.
In one preferred embodiment, the first target includes a front first target, a rear first target, and a second target includes a front second target, a rear second target.
In the embodiment described later, four targets (T1 to T4) are illustrated, but the number of targets is not limited.

The number of parallel walking surfaces is not limited to two, and may further include, for example, a third walking surface or a provided endless belt that provides a fourth walking surface. For example, the walking training device is provided with three endless belts that provide three parallel first walking surfaces, a second walking surface, and a third walking surface, with the first walking surface in the center, the second walking surface, and the third walking. The surfaces are arranged on the left and right, and in the basic posture, the walking surface is on the central first walking surface, and according to the command of the target instruction means, the surface is transferred to the second walking surface or the third walking surface according to the position of the instructed target. You may do so.
When three or more walking surfaces (for example, a third walking surface or a fourth walking surface) are provided, in one embodiment, the moving speed of each walking surface can be set independently, and the moving speed of each walking surface can be set independently. Try to make them different.
The description of the first walking surface and the second walking surface in the present specification can be incorporated into the description of further walking surfaces such as the third walking surface and the fourth walking surface.

In one typical embodiment, during training, the first walking surface moves at a first speed and the second walking surface moves at a second speed different from the first speed.
By arranging two endless belts with different belt rotation speeds in parallel, the movement position and movement rhythm can be changed.
It is possible that the vectors of the first velocity and the second velocity are opposite (the first walking surface and the second walking surface move in opposite directions).
During one training, it may be programmed to change the speed of movement of the walking surface. For example, a timer is used to change the moving speed to a predetermined speed depending on the time. Alternatively, the belt speed during running may be changed at random. For example, when a predetermined target is selected, the moving speed may be set to be accelerated or decelerated by a predetermined amount. Alternatively, the trainee or the trainee may change the moving speed of the walking surface by operating the acceleration button or the deceleration button on the operation panel.

In one embodiment, the slope of the first walking surface and / or the second walking surface may be changed during training.
For example, even when the first walking surface and the second walking surface are moved at the same speed, by making the inclination angles of the first walking surface and the second walking surface different, the trainee who is walking is disturbed. Can be stimulating. For example, one of the walking surfaces may be a horizontal plane (inclination angle 0) and the other walking surface may be a slope, or both walking surfaces may be set to different slopes.
During one training session, it may be programmed to change the slope of the walking surface. For example, a timer is used to change the tilt angle to a predetermined angle depending on the time. Alternatively, the tilt angle during traveling may be changed at random. For example, when a predetermined target is selected, the tilt angle may be set to increase (+) or decrease (−) by a predetermined amount. Alternatively, the trainee or the trainee may change the moving speed of the walking surface by operating the tilt button on the operation panel.
Further, the first walking surface and the second walking surface may be moved at different speeds and different inclinations. By using a combination of different walking speeds and different inclinations, it is possible to give a more varied disturbance and stimulus to the trainee while walking.

In one preferred embodiment, the target indicating means randomly selects and instructs a target from the plurality of targets. In walking training, the target is instructed irregularly so that the trainee cannot predict the target (target at which position). Random selection of targets can be performed using, for example, a random number generator.

In a typical example, the target indicating means gives an instruction to a trainee visually or audibly.
The visual indicating means (ie, presenting or displaying means) is typically a monitor.
The auditory indicator is typically a speaker or earphone.
Typically, a plurality of targets are provided with an identifier (typically an identification number), and the identifier is displayed on a monitor or the identifier is instructed by voice.
The instruction means are not limited to visual means and auditory means as long as the trainee presents an identifier in a form that allows the trainee to identify the target with all five senses, and tactile sense and vibration may be used (olfactory sense,). It does not exclude the sense of taste).

In one aspect, the gait training device comprises approach motion detecting means for detecting that an motion of bringing a body part closer to a selected target has been performed.
In one embodiment, the approaching motion detecting means detects contact between a body part and the target or pressing of the target by the body part to generate a detection signal. Such an approach motion detecting means can be composed of, for example, a touch sensor or a push button switch.
The approaching motion detecting means may non-contactly detect that the action of bringing the body parts closer to each other has been executed (for example, the sensor detects that the body has approached to a predetermined distance).
The trainee may be notified by a sound or a lamp that the detection by the approaching motion detecting means has been performed.

In one aspect, the walking training device includes motion correctness determining means for collating a detection source target for which an approaching motion is detected by the approaching motion detecting means with a target instructed by the trainee.
In one embodiment, when the targets collated by the operation correctness determination means match, it is determined that the approach operation is completed, and the target instruction means selects and instructs the next target.
In one embodiment, if the selected target presented to the trainee and the detection source target in which the approaching motion is actually detected do not match, the target is counted as a malfunction and the number of times is recorded.
In one embodiment, the target indicating means selects and instructs the next target when the approaching motion detecting means generates a detection signal, regardless of whether the approaching motion is a normal motion or a malfunction. ..

In one embodiment, the gait training device comprises a training result recording means.
The training result includes the time from the instruction of the target to the trainee by the target instruction means to the completion of the approaching operation.
In one embodiment, the gait training device comprises a training result recording means.
The training result includes the time from the instruction of the target to the trainee by the target instruction means to the detection of the approaching motion.
Since the correctness of the approaching motion can be determined at the same time when the approaching motion is detected, there is no substantial time difference between the time when the approaching motion is completed and the time when the approaching motion is detected.
In addition, the training result may include the number of malfunctions.

In one embodiment, the body part is the upper limb.
Typically, the body part is the hand. In addition, elbows and the like may be used.
Position of the target, where possible approach movement in the left and right both hands may be previously decided whether to approach operation in advance either hand, or performs the approach operation in different person's hand by training You may do so. Alternatively, the approaching operation may be performed with either the left or right hand.
The body part may be a part other than the upper limbs, for example, lower limbs (feet, knees, etc.), head, shoulders, buttocks, hips, back, etc.
Depending on the target, different body parts may be brought closer.
It will be appreciated by those skilled in the art that the position of the target may vary depending on the assumed body part. In addition, it may be advantageous to adjust the position of the target according to the physical characteristics of the trainee. Therefore, the target may be arranged so that the position can be adjusted. For example, when it is a target (for example, a push button) and is provided on the frame of a treadmill, magnetic adhesion to the target frame (when the frame is a magnetic material), adsorption by a suction cup, or adhesion by a double-sided fastener is used. The position of the target can be adjusted by making it removable.

In the walking training device according to the present invention, the trainee is allowed to walk on a plurality of walking surfaces having different belt speeds, and by shifting between the walking surfaces, a sensory noise is given to the lower limbs of the trainee and at the same time. By bringing a predetermined part of the body close to a predetermined target, the trainee is made to perform a movement different from walking or lateral movement, thereby giving a noise different from the sensory noise to the lower limbs (in the embodiment described later, the upper limb training). As a result, one push button is installed on the front and side of each treadmill to give reach movement and sensory noise that promotes rotation of the trunk), and the trainee is allowed to process these sensory noises to change the environment. You can practice exercise learning to improve your ability to adapt to treadmills and disturbances. By practicing such motor learning, it is expected that the person requiring support will be removed from the long-term care insurance by improving their physical ability to adapt to environmental changes and disturbances.

By recording the training results (reaction time from the target instruction to the completion of the approaching motion, the number of approaching malfunctions, etc.) in the walking training device according to the present invention, it is possible to evaluate the accuracy of the exercise and evaluate and analyze the training. For example, it can be useful for exercise learning that is effective for rehabilitation treatment.

It is an overall view of the walking training system which concerns on this embodiment. It is operation explanatory drawing of the walking training system which concerns on this embodiment. It is a flow chart which shows the flow of target selection / presentation, approach motion detection in the walking training system which concerns on this embodiment. It is an overall view of the walking training system which concerns on other embodiments.

The walking training system according to the present embodiment will be described with reference to the drawings. As shown in FIG. 1, the walking training system includes two parallel first walking surfaces, two first endless belts 1 and second endless belts 2 that provide a second walking surface, and a first walking surface or a second. A plurality of targets T1 to T4 for causing the trainee who is walking on the walking surface to perform a pressing motion of the selected target, and a training program (random from targets T1 to T4) for the trainee who is walking. It is equipped with a monitor 8 that presents one target selected in the above, and a computer 9 that controls the selection / presentation of the target and records the training result of the trainee. The moving speed of the first walking surface and the moving speed of the second walking surface can be set independently. The two parallel first walking surfaces of the walking training device, the two first endless belts 1 and the second endless belts 2 providing the second walking surfaces may be composed of two electric treadmills arranged side by side. However, one treadmill including the first endless belt 1 and the second endless belt 2 may be used. In the present embodiment, the targets T1 to T4 are configured by the four push buttons, and the push buttons (targets T1 to T4) are installed in front of and to the side of the treadmills located on the left and right sides. The targets T1 to T4 include first targets T1 and T2 that can be pressed by the trainee on the first walking surface, and second targets T3 and T4 that can be pressed by the trainee on the second walking surface.

In the walking training system according to the present embodiment, two treadmills operate belts at different speeds in parallel, and the trainee walks and straddles the two treadmills. At the same time, it provides a system that processes sensory noise through reach movement and trunk rotation by pressing a target (button) instructed as upper limb training.

The computer 9 is an input device for inputting data, an output device for outputting processed data, a display device for displaying data, a computing device mainly composed of a CPU, and a storage device such as a ROM, RAM, and hard disk. , A bus connecting them, a predetermined program stored in a storage device for causing a computer to perform a predetermined process, and the like. The computer 9 is a processing unit (data processing device) that performs data processing using various measured data, a control unit that controls the presentation of a target, and a storage unit that records training results including measurement data and calculated data (a storage unit). It functions as an information recording device), a storage unit for storing training programs, and the like. The operation of the treadmill is controlled by a control unit (not shown) independent of the computer 9. Alternatively, the computer 9 may be built in the display panel of the treadmill (which can also serve as the monitor 8), and the operation of the treadmill may be controlled by the same computer.

The first endless belt 1 is wound between the front sprocket as the drive side sprocket and the rear sprocket as the driven side sprocket, and the drive side sprocket is rotated by the first motor as the drive means to rotate the drive side sprocket to obtain the first endless belt. 1 is moved, and the upper surface of the first endless belt 1 becomes the first walking surface. The first endless belt 2 is wound between the front sprocket as the drive side sprocket and the rear sprocket as the driven sprocket, and the drive side sprocket is rotated by the second motor as the drive means to rotate the drive side sprocket to rotate the second endless belt. 2 is moved, and the upper surface of the second endless belt 2 becomes the second walking surface. These sprockets and motors are built into the treadmill and are not shown.

The moving speed of the first endless belt 1 and the second endless belt 2 can be independently controlled by the rotation speed of the first motor and the rotation speed of the second motor, respectively. As shown in FIG. 2, when a movement speed input command is given from the input unit to the travel control unit, each drive means is operated so that the first endless belt 1 and the second endless belt 2 move at the commanded movement speeds, respectively. (1st motor, 2nd motor) rotates. For example, when there is an input command that the moving speed of the first endless belt 1 is 2 km / h and the moving speed of the second endless belt 2 is 3 km / h, the first motor moves the first endless belt 1 at a speed of 2 km / h. The second motor rotates at such a rotation speed, and the second endless belt 2 rotates at a rotation speed of 3 km / h.

The moving speed of the first walking surface and the moving speed of the second walking surface may be set by a predetermined walking training program. In this case, when the start button (not shown) of the treadmill is pressed, the first walking surface is pressed. The motor and the second motor are driven to rotate at a predetermined rotation speed according to the walking training program, and the first endless belt 1 and the second endless belt 2 move at the set moving speed. Two start buttons may be prepared for the first motor and the second motor (especially when two door treadmills are used), and one button can drive the first motor and the second motor. You may want to start.

Regarding the moving speeds of the first walking surface and the second walking surface, the trainee or the trainee may be able to select or change an arbitrary moving speed during the training. For example, an operation panel (not shown) is placed on the first walking surface and the second walking surface at a position where the trainee can operate while walking, and an acceleration button for the moving speed of the first walking surface is displayed on the operation panel. , Deceleration button, stop button, acceleration button of movement speed of the second walking surface, deceleration button, stop button are provided, and the movement speed of the first walking surface and the second walking surface can be adjusted by pressing the acceleration button or the deceleration button while walking. It may be possible to change it.

The angles of the first walking surface and the second walking surface may be variable. A treadmill in which the walking surface can be tilted at an arbitrary angle is also well known. For example, the support base of the entire unit consisting of front and rear sprockets and an endless belt is configured to be tiltable, and the support base is tilted at an arbitrary angle by a tilting motor. Tilt to. For example, the inclination can be set with the horizontal as 0 degree, the forward upward inclination as a + angle or%, and the forward downward inclination as a − angle or%.

The basic configuration of a treadmill as a walking or running training device is well known to those skilled in the art, and further description of a start switch, a stop switch, a speed variable switch, a tilt angle variable switch, and the like will be omitted. An emergency stop button (not shown) for stopping the movement of the first endless belt 1 and the second endless belt 2 may be provided.

In a treadmill provided with two parallel first walking surfaces and two endless belts 1 and 2 providing a second walking surface, the first walking surface is on the front side 10, the rear side 11, and the second walking surface. It has a first side portion 12 which is a near side and a second side portion 13 which is a side far from the second walking surface, and the second walking surface is a front side portion 20, a rear side portion 21, and a side close to the first walking surface. It has a first side portion 22 which is, and a second side portion 23 which is a side far from the first walking surface.

The widths of the first endless belt 1 and the second endless belt 2 (dimensions between the first side portions 12 and 22 and the second side portions 13 and 23) are sufficient for the trainee to walk with both legs. It has a width that provides a comfortable walking surface. If the trainee can move between the parallel first walking surface and the second walking surface, the first side portion 12 of the parallel first walking surface and the first side portion 22 of the second walking surface are arranged. There may be a gap between the two, or the first side portion 12 of the first walking surface and the second side portion 22 of the second walking surface may be close to each other. In the aspect of FIG. 1, the portion between the first side portion 12 of the first walking surface and the first side portion 22 of the second walking surface is flat, but even if it is a recess, there is no problem in transferring. It may be a convex portion having a certain height (see FIG. 4). In order to improve the training effect associated with the transfer movement between the first walking surface and the second walking surface, at least between the first side portion 12 of the first walking surface and the first side portion 22 of the second walking surface. It is preferable that an interval of 5 cm or more is provided. In a conventional walking training machine in which the left and right feet of the trainee are placed on the left and right belts, the side portions of the left and right belts are as close as possible to each other so as not to interfere with the running of the belts. In order to further improve the training effect associated with the transfer movement between the first walking surface and the second walking surface, between the first side portion 12 of the first walking surface and the first side portion 22 of the second walking surface. It is desirable that the upper surface of the portion is higher than the first walking surface and the second walking surface.

A first post 3 is provided in a rising shape on the front side of the second side portion 13 of the first walking surface, and a second post 4 is provided in a rising shape on the front side of the second side portion 23 of the second walking surface. It is provided. The first side frame 5 extends substantially horizontally from the upper end of the first post 3 toward the rear, above the second side portion 13 of the first walking surface, and is behind the first side frame 5. The side extends further downward to the rear side of the second side portion 13 of the first walking surface. The second side frame 6 extends substantially horizontally from the upper end of the second post 4 toward the rear, above the second side portion 23 of the second walking surface, and is behind the second side frame 6. The side extends further downward to the rear side of the second side portion 23 of the second walking surface. The front side of the first side frame 5 and the second side frame 6 extends forward beyond the first post 3 and the second post 4, and the extension portion of the first side frame 5 and the extension of the second side frame 6. The front frame 7 extends so as to connect the protrusions.

It will be appreciated by those skilled in the art that the frame configuration shown in FIG. 1 is exemplary and other configurations are possible. For example, the front frame may directly connect the first post and the second post. Further, a display panel (not shown) may be provided on the front frame, and the display panel may also serve as an operation panel for controlling the operation of the treadmill and a monitor 8 for presenting a target. The computer 9 may be built in the display panel. Further, if the target is supported in a predetermined position by another support means (for example, a support or a support base independent of the treadmill), the treadmill does not need to be provided with a frame.

The gait training system includes four targets T1 to T4 for causing the trainee who is walking to perform an action of approaching a body part. In the present embodiment, the targets T1 to T4 are composed of push buttons, and by selecting one target from the targets T1 to T4 and presenting it to the trainee who is walking, in the present embodiment, the target T1 to T4 are composed of push buttons, and the trainee is tasked with pushing a selected target (push button) while walking.

In the present embodiment, the computer 9 randomly selects one target from the four targets T1 to T4. In front of the first walking surface and the second walking surface, the target is instructed to the trainee by being located at the height of the line of sight of the trainee who is walking on the first walking surface or the second walking surface. A monitor 8 is provided, and the selected target is displayed on the monitor 8. More specifically, targets T1, T2, T3, and T4 are assigned target numbers 1, 2, 3, and 4. For example, by displaying a large "1" on the monitor 8, the trainee Is designed to push the target T1 (push button). It will be understood by those skilled in the art that there can be various ways of displaying the selected target.

In the present embodiment, the target T1 is provided behind the horizontal portion of the first side frame 5, the target T2 is provided on the first walking surface side of the front frame 7, and the target T3 is the front frame 7. The target T4 is provided on the side of the second walking surface of the second side frame 6 and is provided on the rear side of the horizontal portion of the second side frame 6. In the illustrated embodiment, the targets T1 to T4 are arranged by utilizing the frame of the treadmill, but the target may be supported by a structure separate from the treadmill.

The target T1 and the target T2 are in a position where they can be pushed only when the trainee is walking on the first walking surface, and the target T3 and the target T4 are the targets T3 and the target T4 when the trainee walks on the second walking surface. It is in a position where it can be pushed only when it is. Therefore, when the target T3 or the target T4 is instructed to the trainee who walks on the first walking surface, the trainee needs to move from the first walking surface to the second walking surface, and moves on the second walking surface. When the target T1 or the target T2 is instructed to the walking trainee, the trainee needs to move from the second walking surface to the first walking surface.

Further, when the target T1 is presented to the trainee on the first walking surface and the target T4 is presented to the trainee on the second walking surface, the trainee is trained when the targets T1 and T4 are pressed. It will encourage the person to rotate the trunk. When the target T2 is presented to the trainee on the first walking surface, and when the target T3 is presented to the trainee on the second walking surface, the trainee is pressed when the targets T2 and T3 are pressed. It will encourage reach operation.

As described above, two push buttons (targets T1 to t4) installed on each of the left and right sides of the treadmill are assigned numbers 1 to 4, and by presenting the button numbers to the monitor 8. , Have the trainee perform the action of touching the numbers 1 to 4 instructed as the movement of the upper limbs / trunk. Buttons are mounted on the front and sides of the treadmill to perform reach and rotation movements. The left and right buttons are installed at a distance that cannot be pressed without transferring to the other belt, and are configured to encourage belt transfer movements.

In the present embodiment, the targets T1 to T4 are composed of push buttons, and the approaching motion is detected by inputting a switch when the push buttons are pressed. That is, the switch input by pressing the push button constitutes the approach motion detection means, and the approach motion detection signal generated when the push button switch is input is sent to the processing unit on the computer 9 side.

The processing unit can recognize which of the targets T1 to T4 the received approaching motion detection signal is transmitted from. The processing unit holds the number information of the target selected by the target selection means and presented by the target presenting means, and the source target number of the approaching motion detection signal received by the operation correctness determination means of the processing unit and The target number displayed on the monitor 8 is collated. When these target numbers match, the approach operation is completed, the next target is selected by the target selection means, and is displayed on the monitor 8 by the target presenting means. In the present embodiment, the trainee knows that the approaching motion has been completed (the approaching motion was a normal motion) by changing the number displayed on the monitor 8. If these target numbers do not match, the approaching operation incomplete state continues. While the approaching operation is incomplete, the target number is continuously displayed on the monitor 8, and in the present embodiment, the trainee does not change the number displayed on the monitor 8, so that the approaching operation malfunctions. I know it was there. In addition, the trainee may be notified when the approaching motion is a malfunction. Examples of such notifications include a warning sound such as a buzzer, lighting of a lamp, and display on a monitor 8.

In the walking training system according to the present embodiment, there are several modes for starting training. For example, while the trainee is standing on the first walking surface or the second walking surface, the start buttons of the two treadmills are pressed to rotate the first endless belt at a predetermined first speed, and the second The training is started by rotating the endless belt at a predetermined second speed and pressing the training start button after the trainee starts walking. Alternatively, a common start button may be prepared, and by pressing this start button, the treadmill, the target presenting means, or the like may be operated according to a preset walking training program.

The flow of target selection / presentation and approach motion detection in the walking training system according to the present embodiment will be described with reference to FIGS. 2 and 3. When the training start button is input, any one target is selected from the plurality of targets T1 to T4 by the target selection means, and the number of the selected target is displayed on the monitor 8. For example, assume that the target T3 is selected and the target number "3" is displayed on the monitor 8. The trainee who walks on the first walking surface sees that the target number "3" is displayed, and moves from the first walking surface to the second walking surface (moves at a speed different from that of the first walking surface). After transferring, touch and press the target T3 by hand. When the push button switch constituting the target T3 is turned on, an approach motion detection signal is transmitted to the processing unit. In the processing unit, the target number "3" selected and displayed by the operation correctness determination means is collated with the number "3" of the target T3 of the transmission source of the approach operation detection signal, and the approach operation is performed when the target numbers match. Judge as complete.

The timer as a time measuring means starts when the selected target is displayed on the monitor 8, and ends when the approaching operation is completed (when the approaching operation is a normal operation). The time from the target presentation acquired by the timer to the completion of the approaching operation is stored in the storage unit of the computer 9 as a reaction time. When the push button (target) is pressed, when the approach motion detection signal is received, and when the motion correctness is determined, the buttons are substantially simultaneously pressed. Therefore, the time measuring means presses the button after the target identifier (target number) is displayed on the monitor 8. It can be said that the time until the button is pressed is automatically measured.

At the same time that the approaching operation to the displayed target is completed, a new target is randomly selected by the target selection means, the number of the selected target is displayed on the monitor 8, and a new timer is started. Since the selection and display of the target are performed substantially at the same time, the timer actually starts at the same time as the timer ends. That is, in the present embodiment, when the trainee presses the button (correct button), the next instruction is immediately issued. An interval may be provided between the completion of the approaching operation and the display of the next target.

When a trainee walking on the first walking surface who sees the target number "3" displayed on the monitor 8 accidentally touches and presses the target T2 by hand, the push button switch constituting the target T2 is turned on. Then, the approach motion detection signal is transmitted to the processing unit. In the processing unit, the target number "3" selected and displayed by the operation correctness determination means is collated with the number "2" of the target T3 of the transmission source of the approach operation detection signal, but the target numbers do not match. Judge that the approach operation is incomplete. While the approach operation is incomplete, the target number “3” is continuously displayed on the monitor 8 and the timer count is continued. In the present embodiment, the training proceeds to the next step (presentation of the next target) only when the trainee presses the target T3. The upper limit of the reaction time may be set, and when the timer count reaches the upper limit time, a new target may be selected and displayed. If the target numbers do not match, it may be determined that the approaching operation was a malfunction, and the number of malfunctions (number of mistakes in pressing) may be counted and stored in the storage unit.

In addition to the reaction time, the training results include time-series data of the movement speed and acceleration of each walking surface (not necessarily necessary in certain cases), which walking surface the trainee is walking on, and the target. It may include time-series data (for example, which can be determined by a pressure sensor) indicating the trajectory of the approaching operation, transition information of the selected and presented target, and the like, and these information are stored in the storage unit of the computer 9. Will be done. Furthermore, the motion information of the trainee at the time of training is acquired by the motion measuring means (optical motion capture or inertial sensor), and the position and speed of the trainee as well as the walking surface are obtained by combining with the motion analysis and the inertial sensor information. , Acceleration, angle, angular velocity, angular acceleration, etc. may be acquired and used for evaluation / analysis.

The walking training device according to this embodiment is mainly used for rehabilitation medicine. When a patient such as a stroke hemiplegic patient performs walking training, a caregiver such as a physiotherapist (PT) is required for safety. When trying to utilize the treadmill for rehabilitation training, the caregiver was holding the patient because the operation panel was in front, and it was difficult to operate it alone, so multiple people were needed. However, due to human problems, walking training on a treadmill that can be assisted alone has been required. On the other hand, by adopting a hanging treadmill, it is possible to prevent the trainee from falling from the walking surface, but in addition to the large scale and high cost of the device, the first walking surface and the first 2 It is difficult to apply the suspension type to the treadmill according to the present embodiment, which is premised on movement between walking surfaces.

The walking training system shown in FIG. 4 addresses such a problem. The conventional treadmill is operated by the user himself (the operation panel is in front of the walking surface so that the user can easily operate it), and it is not supposed to be operated by another person. However, in the medical field, the treadmill operator and the user (trainee) may not be the same. In the present embodiment, it is assumed that the caregiver operates the operation unlike the conventionally assumed one, the auxiliary table 16 is installed on the rear side of the treadmill, and the operation panel is located on the side of the auxiliary table 16. By providing 15, a treadmill that can be operated by a caregiver behind a pedestrian (trainee) is provided. Since the caregiver needs to assist (support) the trainee (patient) by being located behind the walking surface of the treadmill, the caregiver behind the treadmill can reach out and operate it. By providing the operation panel 15, the caregiver can operate the operation panel 15 while assisting the trainee on the auxiliary table 16.

As shown in FIG. 4, the walking training system includes two parallel first walking surfaces, two first endless belts 1 and second endless belts 2 that provide a second walking surface, and a first walking surface or a second. A plurality of targets T1 to T4 for causing the trainee who is walking on the walking surface to perform a pressing motion of the selected target, and a training program (random from targets T1 to T4) for the trainee who is walking. It is equipped with a monitor 8 that presents one target selected in the above, and a computer 9 that controls the selection / presentation of the target and records the training result of the trainee. In the embodiment shown in FIG. 4, the same reference numbers are given to the elements common to the embodiment shown in FIG. 1, and the description related to FIG. 1 can be referred to as necessary.

In a treadmill provided with two parallel first walking surfaces and two endless belts 1 and 2 providing a second walking surface, the first walking surface is on the front side 10, the rear side 11, and the second walking surface. It has a first side portion 12 which is a near side and a second side portion 13 which is a side far from the second walking surface, and the second walking surface is a front side portion 20, a rear side portion 21, and a side close to the first walking surface. It has a first side portion 22 which is, and a second side portion 23 which is a side far from the first walking surface (see FIG. 2). In the embodiment shown in FIG. 4, an intermediate portion 14 having a predetermined width is provided between the first side portion 12 of the first walking surface and the first side portion 22 of the second walking surface, so that the trainee can be trained. It has a structure that allows lateral movement. Such lateral movement through the intermediate portion 14 strengthens the physical load of the trainee and improves the training effect. In the present embodiment, the upper surface 140 of the intermediate portion 14 is higher than the first walking surface and the second walking surface, thereby improving the training effect associated with the transfer movement between the first walking surface and the second walking surface. I'm letting you.

The rear 11 and 21 sides of the endless belts 1 and 2 of the treadmill are the elevating side when the trainee gets on and off the first walking surface or the second walking surface, and is the side of the elevating path of the treadmill. An operation panel 15 is provided on the side, and an auxiliary base 16 is installed on the elevating side (rear side) of the treadmill so as to face or approach the rear side portions 11 and 21 of the endless belts 1 and 2. The auxiliary table 16 is premised on a caregiver (not shown) resting on the auxiliary table 16, and the operation panel 15 can be easily operated by the caregiver on the auxiliary table 16 while assisting the trainee. It is provided at a position where it can be performed.

The auxiliary base 16 has a width extending at least over the widths of the rear side portions 11 and 21 of the endless belts 1 and 2 of the treadmill, and has a predetermined depth and a predetermined height. The upper surface 160 of the auxiliary table 16 is located at the same height as or substantially the same height as the first walking surface and the second walking surface, and there is a substantial step between the first walking surface and the second walking surface. It is designed not to occur. The upper surface 160 of the auxiliary table 16 has an area (width and depth) on which the caregiver can assist the trainee. The front end of the auxiliary base 16 is located adjacent to the rear side portions 11 and 21 of the endless belts 1 and 2 of the treadmill, and shifts from the first walking surface or the second walking surface to the upper surface 160 of the auxiliary base 16. At that time, the distance is such that the trainee's legs are not pinched.

An operation panel 15 is provided on the side of the elevating path on the rear side of the treadmill. The operation panel 15 is provided at a predetermined height on the side portion of the auxiliary base 16 so that the caregiver on the auxiliary base 16 can easily operate the operation panel 15. In the illustrated embodiment, the operation panel 15 is supported by a columnar portion 150 erected on one side of the auxiliary base 16 as a support portion. The support portion is not limited to the columnar portion 150. For example, the operation panel 15 may be provided on a table having a predetermined height, and the support portion and the auxiliary table 16 may be integrally formed even if they are separate bodies. You may. The operation panel 15 also includes a support portion, and is provided on the side adjacent to the elevating path so as not to hinder the trainee from getting on and off the first walking surface or the second walking surface. The operation panels 15 may be provided on both sides of the auxiliary base 16 (elevation path). Further, the operation panel 15 may be composed of a display panel and the computer 9 may be built in.

1 1st endless belt 2 2nd endless belt 3 1st post 4 2nd post 5 1st side frame 6 2nd side frame 7 Front frame
8 Monitor 9 Computer 15 Operation panel 16 Auxiliary stand T1 to T4 Target

Claims (8)

At least two first walking surfaces in parallel, at least two endless belts providing a second walking surface, and
A plurality of targets provided in the structure near the first walking surface and the second walking surface, and
A target instruction means for instructing a person to be trained while walking by selecting a target from the plurality of targets .
Approaching motion detecting means for detecting that a part of the trainee's body touches or approaches the target,
With
The moving speed of the first walking surface and the moving speed of the second walking surface can be set independently.
The first walking surface has a front side portion, a rear side portion, a first side portion which is closer to the second walking surface, and a second side portion which is far from the second walking surface, and the trainee has both legs. It is wide enough to carry and walk
The second walking surface has a front side portion, a rear side portion, a first side portion which is closer to the first walking surface, and a second side portion which is far from the first walking surface, and the trainee has both legs. It is wide enough to carry and walk
The distance between the first side portion of the first walking surface and the first side portion of the second walking surface is such that the trainee can transfer between the first walking surface and the second walking surface. Is the interval
Wherein the plurality of targets, the only when a trainee is walking on the first tread surface, one that can be brought close to not contact the body part of the trainee or a plurality of first target If the only when a trainee is walking on the second tread surface, seen including one or more second target that can be brought close to not contact the body part of the trainee, At least one of the first targets is located above the second side portion or the front side portion of the first walking surface, and at least one of the second targets is said to be the second walking surface. Located above the second side or the front side,
Walking training device. The walking training device according to claim 1, wherein the structure is a frame of the walking training device. The walking training device according to any one of claims 1 and 2 , wherein the inclination angle of the first walking surface and the inclination angle of the second walking surface can be set independently . The walking training device according to any one of claims 1 to 3 , wherein the approaching motion detecting means detects contact between a body part and a target or pressing of a target by the body part to generate a detection signal. The walking training device according to any one of claims 1 to 3, wherein the approaching motion detecting means non-contactly detects that a body part and a target are close to each other. Any of claims 1 to 5 , wherein the walking training device includes motion correctness determination means for collating a detection source target for which an approach motion is detected by the approach motion detection means with a target instructed by a trainee. The walking training device according to item 1. The walking training device is provided with a training result recording means.
The walking training device according to any one of claims 1 to 6 , wherein the training result includes a time from the instruction of the target to the trainee by the target indicating means to the detection by the approaching motion detecting means . Wherein between the first walking surface the first side and the first side of the second walking surface of the intermediate portion having a top surface at a position higher than the first tread surface and a second tread surface Exists,
The walking training device according to any one of claims 1 to 7 .

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