JP7115423B2 - Gait training system, display method, and display program - Google Patents

Description

The present invention relates to a walking training system, display method, and display program.

A technique for measuring/evaluating motion during walking training and displaying the result on a display unit is known (see Patent Literature 1, for example).

JP 2015-104397 A

When a trainee suffering from leg paralysis performs walking training, a number of symptoms are already known that serve as criteria for determining that the walking is abnormal. However, some of these symptoms are severe, leading to falls, while others have only minor effects on walking. Trainees who perform gait training and assistants want to check any symptoms, but they particularly want to know whether serious abnormal gait leading to falls has been determined.

The present invention has been made to solve such problems, and a trainee or an assistant can intuitively identify each symptom determined as abnormal gait and the frequency of serious abnormal gait leading to a fall. It provides a walking training system etc. that can be recognized by

A walking training system according to a first aspect of the present invention determines abnormal gait of a trainee walking on a treadmill based on a treadmill that encourages the trainee to walk and a plurality of predetermined abnormal gait symptoms. A judgment part and a display part for displaying the judgment result by the judgment part are provided, and the judgment part judges the first level that may lead to a fall and the second level that does not have a possibility of leading to a fall among a plurality of abnormal walking symptoms. For the specific abnormal gait symptom having and, it is determined whether the determined abnormal gait corresponds to the first hierarchy or the second hierarchy, and the display unit displays the determination result of the specific abnormal gait symptom , the frequency corresponding to the first hierarchy and the total frequency corresponding to either the first hierarchy or the second hierarchy are integrally displayed. By the determination by the determination unit and the display by the display unit in this way, the trainee and the assistant can determine the frequency of falling for each symptom determined as abnormal gait and particularly for the specific abnormal gait symptom. It is possible to intuitively recognize whether an abnormal gait has been determined.

In the walking training system described above, the display unit preferably displays the frequency corresponding to the first hierarchy numerically and the total frequency corresponding to either the first hierarchy or the second hierarchy graphically. With such a display mode, the trainee and the assistant can intuitively recognize important items in detail and the overall image. In addition, for abnormal gait symptoms that are not specific abnormal gait symptoms among the plurality of abnormal gait symptoms, the display unit displays the total frequency corresponding to either the first hierarchy or the second hierarchy of the specific abnormal gait symptoms. It is preferable to display the corresponding frequency in a manner. By arranging the display modes in this way, the trainee and the assistant can compare and recognize the frequency of occurrence of each symptom.

Also, the display unit preferably updates the display of the determination result in accordance with the progress of the training trial. Since the trainee can recognize the judgment result even during the training trial, he/she can make sequential improvements. In addition, since the display unit also displays various other images such as the appearance of the trainee during the training trial, in a limited display space, among the determination results of each of the plurality of abnormal gait symptoms, the specific abnormal gait symptom It is preferable to display only a part of the determination results with priority given to the determination results of .

In addition, the determination unit determines which of the plurality of categories in which the second layer is divided according to the degree of gait abnormality, and the display unit also displays the frequency corresponding to each of the plurality of categories. You can By displaying in this way, the trainee and the assistant can recognize the distribution of the degree of abnormal gait of the second layer.

Moreover, when displaying all of the determination results of each of the plurality of abnormal walking symptoms, the display unit preferably displays the determination result of the specific abnormal walking symptom with priority. In the summary display after the training trial, it is preferable to preferentially notify the trainee and the assistant of the determination results of symptoms that may lead to a fall. Further, when one of the determination results corresponding to each of the plurality of displayed abnormal gait symptoms is selected, the display unit displays advice regarding adjustment items for improving the gait abnormality of the selected abnormal gait symptom. good to do By obtaining such advice, the assistant can appropriately adjust the device in subsequent training trials.

A display method according to a second aspect of the present invention is a display method for displaying a determination result of abnormal gait on a display unit in a walking training system including a treadmill that encourages the trainee to walk and a display unit. Based on a plurality of abnormal gait symptoms, it has a determination step of determining abnormal gait of the trainee walking on the treadmill, and a display step of displaying the determination result of the determination step on the display unit, wherein the determination step includes a plurality of abnormal gait symptoms. Among the abnormal gait symptoms in the above, for specific abnormal gait symptoms that have the first level that may lead to a fall and the second level that may not lead to a fall, whether the determined abnormal gait falls under the first level It is determined whether it corresponds to the second hierarchy, and in the display step, when displaying the determination result of the specific abnormal gait symptom, the frequency corresponding to the first hierarchy and the frequency corresponding to either the first hierarchy or the second hierarchy The total frequency is displayed integrally.

A display program according to a third aspect of the present invention is a display program for displaying a determination result of abnormal gait on a display unit in a walking training system including a treadmill and a display unit that encourages the trainee to walk, wherein a predetermined Based on a plurality of abnormal walking symptoms, the computer executes a judgment result judgment step for judging the abnormal gait of the trainee walking on the treadmill, and a display step for displaying the judgment result by the judgment step on the display unit. For specific abnormal gait symptoms having a first level that may lead to a fall and a second level that may not lead to a fall among multiple abnormal gait symptoms, the determined abnormal gait is in the first level It is determined whether it corresponds to the second hierarchy, and in the display step, when displaying the determination result of the specific abnormal gait symptom, the frequency corresponding to the first hierarchy and which of the first hierarchy and the second hierarchy and the total frequency corresponding to one of them is displayed integrally. Even in the second and third aspects, as in the first aspect, the trainee and the assistant should ask each symptom determined to be abnormal gait, and in particular, how much the specific abnormal gait symptom is. It can be intuitively recognized whether an abnormal gait leading to a fall is determined at a frequency of .

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a walking training system or the like that allows a trainee or an assistant to intuitively recognize each symptom determined as abnormal walking and the frequency of serious abnormal walking leading to falls.

1 is a schematic perspective view of a walking training device according to this embodiment; FIG. It is a schematic perspective view of a walking assistance device. It is a figure which shows the system configuration|structure of a walking training apparatus. It is an example of the display object which displays the determination result of an abnormal gait symptom. FIG. 10 is a diagram showing a display example of a training monitor during a training trial; FIG. 10 is a diagram showing a display example of a training monitor after a training trial; FIG. 10 is a diagram showing a display example of a management monitor after a training trial; FIG. 11 is a diagram showing a display example of displaying a symptom improvement method on a management monitor; It is a figure which shows the list of the abnormal gait symptom detected and its improvement method. It is a figure explaining the process until it determines the display mode of an improvement method. FIG. 10 is a diagram showing a display example of abnormal gait symptoms related to the selected improvement method; FIG. 10 is a diagram showing the processing flow in a series of training trials; FIG. 10 is a diagram showing a processing flow regarding display of improvement advice; FIG. 10 is a diagram showing a display example of an input screen including character input items; FIG. 10 is a diagram showing a display example of a character acceptance state for accepting character input;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the scope of claims is not limited to the following embodiments. Moreover, not all the configurations described in the embodiments are essential as means for solving the problems.

FIG. 1 is a schematic perspective view of a walking training device 100 according to this embodiment. The gait training device 100 is an example of a gait training system, and is a device for performing gait training by a trainee 900 who is a hemiplegic patient suffering from paralysis in one leg. The gait training device 100 mainly includes a control panel 133 attached to a frame 130 that forms the overall skeleton, a treadmill 131 on which the trainee 900 walks, and an affected leg that is the leg on the paralyzed side of the trainee 900. and a walking assistance device 120 to be worn.

The frame 130 is erected on a treadmill 131 installed on the floor. The treadmill 131 rotates a ring-shaped belt 132 with a motor (not shown). The treadmill 131 is a device that encourages the trainee 900 to walk. A trainee 900 who performs walking training rides on the belt 132 and attempts a walking motion in accordance with the movement of the belt 132 .

The frame 130 supports a control panel 133 housing an overall control unit 210 for controlling motors and sensors, a training monitor 138 such as a liquid crystal panel for presenting training progress and evaluation comments to the trainee 900, and the like. ing. The training monitor 138 is installed so that the trainee 900 can visually recognize it while walking on the belt 132 of the treadmill 131 . Further, the frame 130 supports a front tensioning part 135 near the front of the head of the trainee 900, a harness tensioning part 112 near the top of the head, and a rear tensioning part 137 near the rear of the head. The frame 130 also includes a handrail 130a for the trainee 900 to grasp.

The front camera unit 140 captures an image of the trainee 900 from the front at an angle of view that allows the gait of the trainee 900 to be recognized. The side camera unit 141 captures an image of the trainee 900 at an angle of view that allows the gait of the trainee 900 to be recognized from the side. The front camera unit 140 and the side camera unit 141 in this embodiment each include a set of lenses and imaging elements that provide an angle of view that captures the whole body including the head of the trainee 900 standing on the belt 132 . The imaging device is, for example, a CMOS image sensor, and converts an optical image formed on an imaging plane into an image signal. The front camera unit 140 is installed near the training monitor 138 so as to face the trainee 900 . The side camera unit 141 is installed on the handrail 130a so as to capture the trainee 900 from the side.

The front wire 134 has one end connected to the winding mechanism of the front pulling portion 135 and the other end connected to the walking assistance device 120 . The winding mechanism of the front pulling part 135 turns on/off a motor (not shown) to wind up or extend the front wire 134 according to the movement of the affected leg. Similarly, the rear wire 136 has one end connected to the winding mechanism of the rear pulling portion 137 and the other end connected to the walking assistance device 120 . The winding mechanism of the rear pulling part 137 winds and unwinds the rear wire 136 according to the movement of the affected leg by turning on/off a motor (not shown). By such coordinated operation of the front pulling part 135 and the rear pulling part 137, the load of the walking assistance device 120 is offset so that the load is not imposed on the affected leg, and furthermore, the affected leg is affected according to the degree of setting. Assists the swinging motion of the legs.

The operator 910, who is a training assistant, sets a large assist level for a trainee with severe paralysis. The operator 910 is a physical therapist or doctor who has authority to select, modify, or add setting items of the walking training device 100 . When the assist level is adjusted to be large, the front pulling part 135 winds the front wire 134 with a relatively large force in time with the timing of swinging out of the affected leg. As training progresses and assistance is no longer needed, the operator adjusts the level of assistance to a minimum. When the assist level is adjusted to the minimum, the front pulling part 135 winds up the front wire 134 with a force sufficient to cancel the weight of the walking assistance device 120 in time with the timing of swinging out of the affected leg.

The walking training device 100 includes a safety device having safety equipment 110, harness wire 111, and harness tensioning portion 112 as main components. The safety equipment 110 is a belt wrapped around the abdomen of the trainee 900, and fixed to the waist with, for example, a hook-and-loop fastener. The harness wire 111 has one end connected to the safety equipment 110 and the other end connected to a winding mechanism of the harness pulling portion 112 . The winding mechanism of the harness pulling part 112 winds up or lets out the harness wire 111 by turning on/off a motor (not shown). With such a configuration, the safety device winds up the harness wire 111 in accordance with an instruction from the overall control unit 210 that detects the movement of the trainee 900 when the trainee 900 loses his or her posture, and the safety equipment 110 is used to lift the trainee 900 over the trainee 900 . support the body.

Management monitor 139 is attached to frame 130 and is a display device for operator 910 to monitor and operate. The management monitor 139 is, for example, a liquid crystal panel, and a touch panel 142 is superimposed on its surface. The management monitor 139 presents various menu items related to training settings, various parameter values during training, determination results of abnormal gait symptoms, and the like. Also, the operator 910 selects, corrects, and adds setting items via the touch panel 142, a mouse (not shown), or the like.

The walking assist device 120 is attached to the affected leg of the trainee 900 and assists the trainee 900 in walking by reducing the load of extension and bending on the knee joint of the affected leg. FIG. 2 is a schematic perspective view of the walking assistance device 120. FIG. The walking assistance device 120 mainly includes a control unit 121, a plurality of frames supporting each part of the affected leg, and a load sensor 222 for detecting the load applied to the sole.

The control unit 121 includes an auxiliary control section 220 that controls the walking assistance device 120, and also includes a motor (not shown) that generates a driving force for assisting the extension and flexion of the knee joint. The frames that support each part of the affected leg include an upper leg frame 122, a lower leg frame 123 rotatably connected to the upper leg frame 122, a foot frame 124 rotatably connected to the lower leg frame 123, and a front frame. It includes a front connecting frame 127 for connecting wires 134 and a rear connecting frame 128 for connecting rear wires 136 . The front connecting frame 127 is provided so as to extend the front side of the upper leg in the left-right direction and connect to the upper leg frame 122 at both ends. The rear connecting frame 128 is provided so as to extend the rear side of the lower leg in the left-right direction, and connect both ends to the lower leg frame 123 extending vertically.

The upper leg frame 122 and the lower leg frame 123 rotate relatively around the illustrated _hinge axis Ha. The motor of the control unit 121 rotates according to instructions from the auxiliary control section 220, and assists the upper leg frame 122 and the lower leg frame 123 to relatively open or close around the _hinge axis Ha. . An angle sensor 223 housed in the control unit 121 is, for example, _a rotary encoder, and detects an angle between the upper leg frame 122 and the lower leg frame 123 around the hinge axis Ha. The lower leg frame 123 and the foot frame 124 rotate relatively around the illustrated hinge axis _Hb . The angular range of relative rotation is adjusted in advance by the adjusting mechanism 126 .

The upper leg frame 122 has an upper leg belt 129 . The upper thigh belt 129 is a belt provided integrally with the upper thigh frame, and is wrapped around the upper thigh of the affected leg to fix the upper thigh frame 122 to the upper thigh. This prevents the entire walking assist device 120 from shifting with respect to the leg of the trainee 900 .

A load sensor 222 is a load sensor embedded in the foot frame 124 . The load sensor 222 detects the magnitude and distribution of the vertical load applied to the soles of the trainee 900 . The load sensor 222 is, for example, a resistance change detection type load detection sheet in which electrodes are arranged in a matrix.

Next, the system configuration of the walking training device 100 will be described. FIG. 3 is a system configuration diagram of the walking training device 100. As shown in FIG. The general control unit 210 is, for example, an MPU, and controls the entire apparatus by executing a control program read from the storage unit 217 . The treadmill drive section 211 includes a motor for rotating the belt 132 and its drive circuit. The general control section 210 controls the rotation of the belt 132 by sending drive signals to the treadmill drive section 211 . For example, the rotational speed of the belt 132 is adjusted according to the set training level.

Operation reception unit 212 includes various input devices that receive input operations from trainee 900 and operator 910 and transmit operation signals to overall control unit 210 . The touch panel 142 is one of the operation reception units 212 . The trainee 900 and the operator 910 operate the operation buttons and touch panel that constitute the operation reception unit 212, the attached remote control, and the like to give instructions to turn on/off the power and start training, input numerical values related to settings, and perform other operations. Select menu items. The operation reception unit 212 may include a voice dialogue device and an image recognition device. The display control unit 213 generates a display image according to the control signal from the display shaping unit 210b of the overall control unit 210, and displays it on the training monitor 138 or the management monitor 139. FIG.

The tension driver 214 includes a motor and its drive circuit for pulling the front wire 134 and a motor and its drive circuit for pulling the rear wire 136 . The overall control unit 210 controls winding of the front wire 134 and winding of the rear wire 136 by sending drive signals to the tension drive unit 214 . In addition to the winding operation, the tensile force of each wire is controlled by controlling the drive torque of the motor. For example, the general control unit 210 identifies the timing at which the affected leg switches from the stance state to the free leg state from the detection result of the load sensor 222, and increases or decreases the tensile force of each wire in synchronization with the timing, thereby Assists the swinging motion of

Harness drive unit 215 includes a motor for pulling harness wire 111 and its drive circuit. The overall control unit 210 controls the winding of the harness wire 111 and the pulling force of the harness wire 111 by sending a drive signal to the harness drive unit 215 . For example, when the trainee 900 loses his or her posture significantly, the overall control unit 210 winds up the harness wire 111 by a certain amount to prevent the trainee from falling.

The image processing unit 216 performs image processing on the image signals received from the front camera unit 140 and the side camera unit 141 according to the control signal from the overall control unit 210 to generate image data. The image processing unit 216 can also perform image processing on the image signals received from the front camera unit 140 and the side camera unit 141 according to instructions from the overall control unit 210 to perform specific image analysis. For example, it is possible to detect both shoulder positions and hip joint positions from information such as the extracted edges. These pieces of position information serve as basic information for evaluating the trunk, legs, and evenness of the feet during leg movement of the trainee 900 .

The storage unit 217 is a non-volatile storage medium such as a solid state drive. The storage unit 217 stores a control program for controlling the walking training device 100, a display program for displaying judgment results of abnormal walking and advice on abnormal walking, as well as various parameter values, functions, and functions used for control and calculation. It stores lookup tables and the like. In particular, a trainee information DB 217a, which is a database storing individual information about trainees who use the walking training device 100, and an item table 217b, which is a reference table summarizing a plurality of abnormal walking symptoms and advice on adjustment items corresponding to each. and remember. These databases may be stored in a storage device connected to a network, for example. Retrieve from database.

Front camera unit 140 and side camera unit 141 repeat imaging operations in accordance with control signals from overall control section 210 and output image signals to image processing section 216 . The overall control unit 210 also serves as a function execution unit that executes various calculations and controls. The determination unit 210a determines abnormal gait of the trainee 900 walking on the treadmill 131 based on a plurality of predetermined abnormal gait symptoms. Specifically, the analysis result of the image processing unit 216, the output result of the load sensor 222, and the like are used to determine whether or not each of the abnormal walking symptoms is applicable. The display shaping unit 210b selects information to be presented via the training monitor 138 and the management monitor 139, adjusts the display format, and generates a display image. The generated display image is displayed on the training monitor 138 or the management monitor 139 via the display control unit 213 .

As described above, the walking assistance device 120 is attached to the affected leg of the trainee 900, and the walking training device 100 operates in order to give commands to the walking assistance device 120 and receive sensor information. A communication connection IF 219 connected to 210 is provided. The walking assistance device 120 is also provided with a communication connection IF 229 that is connected to the communication connection IF 219 by wire or wirelessly. The communication connection IF 229 is connected to the auxiliary control section 220 of the walking assistance device 120 . The communication connection IFs 219 and 229 are communication interfaces such as wireless LAN conforming to communication standards.

The auxiliary control unit 220 is, for example, an MPU, and executes control of the walking assistance device 120 by executing a control program given from the general control unit 210 . Also, the state of the walking assistance device 120 is notified to the overall control unit 210 via the communication connection IFs 219 and 229 . Also, upon receiving a command from the overall control unit 210, the walking assistance device 120 is started/stopped.

The joint drive section 221 includes the motor of the control unit 121 and its drive circuit. By sending _a drive signal to the joint drive unit 221, the auxiliary control unit 220 assists the upper leg frame 122 and the lower leg frame 123 to open or close relative to each other around the hinge axis Ha. . Such motion assists the knee extension motion and bending motion and prevents the knee from bending. The load sensor 222 detects the magnitude and distribution of the vertical load applied to the soles of the trainee 900 as described above, and transmits a detection signal to the auxiliary control section 220 .

The angle sensor 223 detects the angle between the upper leg frame 122 and the lower leg frame 123 around the hinge axis Ha as described above, and transmits _a detection signal to the auxiliary control section 220 . The auxiliary control unit 220 receives the detection signal and calculates the opening angle of the knee joint. The auxiliary control section 220 transmits the detection signal from the load sensor 222 and the detection signal from the angle sensor 223 to the determination section 210a. The auxiliary control section 220 may transmit the results of swing/standing state determination and switching estimation obtained by analyzing these detection signals to the determination section 210a.

Here, an example of the determination method by the determination unit 210a will be further described. The determination unit 210a calculates the inclination of the trunk of the trainee 900 who is walking from the result of the analysis of the trainee image captured by the front camera unit 140 and the side camera unit 141 by the image processing unit 216 . Specifically, the body trunk in the image is determined by connecting the reference positions of the main skeleton such as the shoulder positions and hip joint positions analyzed by the image processing unit 216, and the extension direction of the body trunk and the vertical axis of the walking plane are determined. The angle formed by is calculated as the tilt angle. The determination unit 210a determines abnormal gait of the trainee 900 using the calculated inclination of the trunk. The determination unit 210a also considers dragging walking, stumbling, gripping the handrail 130a, and the like detected from image analysis by the image processing unit 216 and sensor output from the load sensor 222, etc., as determination targets.

Whether or not the gait is abnormal can be determined based on, for example, the following six criteria. The first criterion is whether or not the distance along the walking direction from the hip joint to the ankle joint when the affected leg finishes the swing phase and lands is equal to or greater than a reference value. If it is less than the reference value, it is determined that the symptom of abnormal gait appears because the affected leg cannot be swung sufficiently. This abnormal gait symptom is called "pelvic recession". The second criterion is whether or not the bending angle of the knee joint while the affected leg is standing is equal to or greater than the reference angle. If the angle is equal to or larger than the reference angle, it is judged that the weight of the upper body is concentrated on the knee joint and that the symptom of abnormal gait appears. This abnormal gait symptom is called "excessive knee joint flexion".

The third criterion is whether or not the distance along the walking direction from the hip joint to the ankle joint when the affected leg switches from the stance phase to the swing phase is greater than or equal to a reference value. If it is less than the reference value, it is determined that the symptom of abnormal gait appears because the weight of the upper body cannot be freely shifted. This abnormal gait symptom is called "difficult to start". The fourth criterion is whether or not the forward inclination angle of the trunk while the affected leg is standing is equal to or greater than the reference angle. If the angle is equal to or greater than the reference angle, it is determined that the patient is in a forward-leaning posture and that the symptom of abnormal gait has appeared. This abnormal gait symptom is called "anterior inclination of the trunk".

The fifth criterion is whether or not the inclination angle of the trunk toward the affected leg while the affected leg is standing is equal to or greater than the reference angle. If the angle is greater than or equal to the reference angle, it is determined that there is a symptom of abnormal gait because the lateral movement is large. This abnormal gait symptom is called "excessive paralyzed side movement of the pelvis". The sixth criterion is whether or not the forward inclination angle of the trunk of the affected leg during swing is equal to or greater than the reference angle. If the angle is less than the reference angle, it is judged that the symptom of abnormal gait appears because the upper body cannot freely shift the weight and leans backward. This abnormal gait symptom is called "backward inclination of trunk".

The six abnormal gait symptoms described above are specific abnormal gait symptoms that may lead to a fall depending on the degree of the detected distance or angle. The measurement range of the measurement target for each specific abnormal gait symptom is the first level (KR level), which is the range that may lead to a fall, and the second level (KP level), which is the range that does not lead to a fall. ) is set. For example, the measurement object of "pelvic retraction" is the distance along the walking direction from the hip joint to the ankle joint as described above, but the range of 0 or more and _less than D1 is the KR hierarchy, and the range of D1 or _more and _less than D2 is the KR hierarchy. _KP hierarchy, the range of D2 or higher is set as normal hierarchy. If the detected distance D is included in the KR layer, it is an abnormal gait with a possibility of falling. If it is included in the KP layer, it is an abnormal gait without a fall. If it is included in the normal layer, it is normal. judged to be walking. Each boundary value (D ₁ , D ₂ , etc.) is preset by a doctor or the like according to the height, weight, degree of paralysis, etc. of the trainee 900 . In the present embodiment, the above abnormal gait symptom is defined as the specific abnormal gait symptom, but the specific abnormal gait symptom may be defined by focusing on other criteria that may lead to a fall.

Abnormal gait symptoms include specific abnormal gait symptoms that may lead to falls, as well as those that do not lead to falls but exhibit a gait different from that of a healthy person. As such abnormal gait symptoms, there are ``spinning gait'' in which the affected leg is swung, ``pelvic lift'' in which the pelvis is lifted, and ``inside whip'' in which the heel is unnaturally lifted during swing. The measurement range of the measurement target in such abnormal gait symptoms is divided into two, the KP hierarchy and the normal hierarchy. is determined to be normal walking.

The determination unit 210a determines abnormal gait by using the analysis results of the image processing unit 216, the detection signals from the load sensor 222 and the angle sensor 223, etc., which are sequentially obtained during the training trial. The display shaping unit 210b shapes the determination result of the determining unit 210a into a display object, and displays it on the training monitor 138 and the management monitor 139. FIG. FIG. 4 is an example of a display object visually showing the determination result of the abnormal gait symptom. In particular, FIG. 4A shows an example of the first object 510 indicating the determination result of the specific abnormal walking symptom, and FIG. An example of an object 520. FIG.

A first object 510 has an elliptical shape formed by connecting two circles arranged on the left and right sides with a common outer tangent line, and includes a symptom title 511, a KR index 512 and a SUM index 513. there is The symptom title 511 is character information indicating which specific abnormal gait symptom determination result the first object 510 indicates. In the example of FIG. 4(a), the character information of "backward leaning of trunk" is shown.

The KR index 512 is a numerical value indicating the number of times that the determination unit 210a determines that the specific abnormal gait symptom (here, “backward tilt of the trunk”) corresponds to the KR level during the training trial. The KR index 512 is provided inside the right circle of the first object 510 . In the example of FIG. 4A, a numerical value of "10" is shown. The SUM index 513 is a bar graph that extends from the left end according to the number of times the determining unit 210a determines that the specific abnormal walking symptom has occurred during the training trial (that is, the number of times that the subject falls into either the KR hierarchy or the KP hierarchy). In the example of FIG. 4( a ), the bar graph is indicated by oblique lines extending to near the center of the first object 510 . When the determination result of the specific abnormal walking symptom is displayed in such an integrated display mode, the trainee 900 and the operator 910 can display the specific abnormal walking symptom name, the determined overall frequency, and The frequency of determination as a dangerous state can be collectively visually recognized. That is, it can be intuitively recognized at a glance.

The second object 520 has a shape obtained by removing the right circle indicating the KR index 512 from the first object 510, and includes a symptom title 521 and the KP index 523. The symptom title 521 is character information indicating which abnormal walking symptom determination result the second object 520 indicates. In the example of FIG. 4(b), the character information of "abrupt extension of the knee joint" is shown.

The KP index 5 2 3 is a bar graph extending from the left end according to the number of times the determining unit 210a determines that the abnormal walking symptom has occurred during the training trial. In the example of FIG. 4B, the bar graph is indicated by oblique lines extending slightly to the right of the center of the second object 520 . In addition, since the second object 520 indicates the determination result of the abnormal walking symptom other than the specific abnormal walking symptom, the KR layer does not exist in the measurement range of the measurement object, and the number of times the measurement result corresponds to the KP layer is This is the number of times that abnormal gait symptoms were determined. When the determination result of the abnormal gait symptom is displayed in such an integral display manner and the KP index 523 is displayed in a display manner similar to the SUM index 513, the trainee 900 and the operator 910 can easily understand each symptom. can be recognized by contrasting the frequency of occurrence.

In this embodiment, the frequency of falling into the KR hierarchy is expressed numerically as in the KR index 512, and the total frequency of falling into either the KR hierarchy or the KP hierarchy is expressed in a bar graph as in the SUM index 513. However, the expression of each frequency is not limited to this. Instead of numerical values, the number of specific icons may be arranged side by side, or the size of a specific figure may be used. In any case, it is sufficient that each frequency is integrally displayed and can be understood at a glance. Further, the KP index 523 is not limited to the display form of the bar graph, and the display form unified with the SUM index 513 may be used.

In the example of FIG. 4(a), the SUM indicator 513 sums up the number of times the KR class and the KP class are applied, and shows them together as a bar graph. , for example, a separator line may be added to the boundary between each count. In addition, when the KP hierarchy is further divided into a plurality of categories according to the degree of gait abnormality, the determination unit 210a determines which category corresponds to the KP hierarchy so that the frequency in each category can be known. You can show parts. In this case, the KP index 523 in FIG. 4B should be similarly displayed so that the frequency in each category can be understood.

FIG. 5 is a diagram showing a display example of the training monitor 138 during a training trial. A status area 310 is provided at the top of the training monitor 138 to display status information on the training trial. Status information includes attempt duration, walking distance, training level, scoring indicators, and the like. The trial duration is the time from the start of the trial, and the duration is measured by a timer (not shown). The walking distance is measured from the integrated amount of rotation of the belt 132 by the treadmill drive unit 211 . The training level represents the difficulty of the training attempt and is updated each time the trainee 900 meets preset criteria. The score indicator is increased or decreased according to the addition or subtraction of acquired points.

A camera image 320 is displayed in an area of the training monitor 138 other than the status area 310 . The camera image 320 is a full-body image of the trainee 900 captured by the front camera unit 140 or the side camera unit 141, and is displayed as a 60 fps real-time video, for example. The trainee 900 can check his or her appearance during the training trial as a real-time image. When displaying the image captured by the front camera unit 140, since the trainee 900 is facing the training monitor 138, the camera image 320 is mirror-inverted as shown in the figure from the viewpoint of visibility. is preferred. These display images are shaped by the display shaping section 210b and supplied from the display control section 213 to the training monitor 138 as video signals.

The determination unit 210a sequentially determines the abnormal gait of the trainee 900 during the training trials as described above. When the determining unit 210a determines any abnormal walking symptom, the display shaping unit 210b shapes the first object 510 or the second object 520 according to the abnormal walking symptom, and displays it on the periphery of the camera image 320. FIG. In the example of the drawing, "backward inclination of the trunk" and "excessive flexion of the knee joint" are determined as the specific abnormal gait symptom, and two first objects 510 are displayed. Each KR index 512 and SUM index 513 indicates the frequency at each decision point.

Since it is not preferable for the trainee 900 to be largely hidden in the camera image 320 during the training trial, the first object 510 and the second object 520 are limited to a predetermined peripheral area (lower left area in the example of the figure). indicate. Also, the display time for displaying each object is limited to several seconds after the determination. That is, while the training trial is in progress, the display is updated so as to display a part of the judgment results as the training trial progresses, instead of displaying all the determined abnormal gait symptoms in a list.

As a display method for displaying successively generated objects in a limited area, for example, each time a new object is generated, it is overwritten with an old object. In addition, the first object 510 showing the specific abnormal walking symptom may be preferentially displayed by, for example, extending the display time or overwriting the new second object 520 over the old first object 510. good. The size and color of the first object 510 and the second object 520 may be changed, or animation may be used in accordance with the timing of displaying and the timing of erasing.

FIG. 6 is a diagram showing a display example of the training monitor 138 after the training trial. At the end of the training trial, all abnormal gait symptoms detected throughout the training trial are displayed. In the illustrated example, there are four first objects 510 ("reverse trunk tilt", "excessive knee joint flexion", "pelvis retraction", and "difficulty starting") and one second object 520 (as specific abnormal gait symptoms). "Abrupt extension of the knee joint") is displayed as an abnormal gait symptom.

At this stage, considering that the trainee 900 wants to fully recognize the determination result as a review of the training trial, each object is displayed relatively large in the center of the camera image 320 . In this case, it is preferable to display all the objects for the detected abnormal gait symptom at once. If the objects cannot be displayed all at once due to lack of display area, the objects may be displayed while being sequentially replaced using, for example, a scroll display method. Note that it is preferable to display the first object 510 preferentially over the second object 520 in the display after the training trial as well. For example, as illustrated, the first object 510 is displayed above the second object 520 .

FIG. 7 is a diagram showing a display example of the management monitor 139 after the training trial. Abnormal gait symptoms detected through training trials are also displayed on the management monitor 139 . Since the display on the training monitor 138 is for the trainee 900, it is highly visible graphically, whereas the display on the management monitor 139, which is the display for the operator 910 who assists the training, is a display of information. Emphasis is placed on accurate transmissibility.

In this embodiment, the detected abnormal gait symptom is displayed as a first object 510 and a second object 520, and the undetected abnormal gait symptom is also displayed as a first object 510' and a second object 520'. . The first object 510 ′ and the second object 520 ′ are, for example, entirely represented in light gray and displayed below the first object 510 and the second object 520 . All objects may be displayed in one screen. A flick operation or the like may be received from the . When the touch panel 142 receives the flick operation of the operator 910, the display shaping unit 210b scrolls the displayed object in the direction of the operation and exposes the hidden object.

In this embodiment, the objects displayed on the management monitor 139 and the objects displayed on the training monitor 138 are displayed in the same manner. good. Even in such a case, for the object displaying the determination result of the specific abnormal gait symptom, the frequency corresponding to the KR layer and the total frequency corresponding to either the KR layer or the KP layer are displayed side by side. It is preferable to display them integrally.

When an object displayed on the management monitor 139 is selected by the tap operation of the operator 910, an advice regarding an adjustment item for improving the abnormal gait symptom related to the selected object appears. This advice display function will be specifically described.

FIG. 8 is a diagram showing a display example of displaying advice for improving the symptoms on the management monitor 139. As shown in FIG. As illustrated, for example, when the first object 510 indicating "pelvic recession", which is a specific abnormal gait symptom, is tapped, a list of advices for improving the symptom of "pelvic recession" is displayed as an improvement method. Specifically, the advice window 600 is displayed in a manner protruding from the selected first object 510 of "pelvic retraction", and each advice corresponding to "pelvic retraction" is displayed as a third object 610 in the advice window 600. arrayed.

The third object 610 includes an advice title 611 representing advice as character information, such as "restrict plantar flexion to dorsiflexion". Here, the advice for improving the symptoms is, among the many adjustment items prepared in the gait training device 100, which items should be adjusted and how to effectively improve the abnormal gait symptoms of the trainee 900. It represents If “restrict plantar flexion to dorsiflexion”, the adjusting mechanism 126 provided between the crus frame 123 and the foot frame 124 in the walking assistance device 120 is adjusted to limit the plantarflexion side of the rotation range to more dorsiflexion. This indicates that there is a high possibility that the symptoms will be improved by changing to the side.

As illustrated, in the advice window 600, in addition to "restrict plantar flexion to dorsiflexion", "knee extension assist increase" and "swing back and forth adjustment to after" are displayed as advice for improving the symptom of "pelvic retraction". “Foot FB footprint”, “restricted dorsiflexion to dorsiflexion”, “increase body weight exemption amount”, and “decrease starting assist” are displayed as third objects 610, respectively. If there is a third object 610 that cannot be displayed, a scroll bar 502 may be displayed to accept a flick operation or the like.

In addition, the advice displayed here is not limited to the advice regarding adjustment of the mechanical and physical adjustment mechanism prepared in the walking training device 100 . For example, "foot FB footprint" indicates that the foot of the trainee 900 captured in the camera image 320 during the training trial should be displayed with a footprint mark superimposed on a desirable contact point. Displaying such a footprint mark allows the trainee 900 to use the footprint mark as an index for adjusting the gait.

As shown, a particular third object 610 is overlaid with a caution icon 620 . Specifically, a caution icon 620 is superimposed on the third object 610 indicating "adjust back and forth after swing", "restrict dorsiflexion to dorsiflexion", and "assist to swing off". Caution icon 620 indicates that caution should be exercised in adopting these suggestions. Specifically, it will be described in detail later.

Advice for each abnormal gait symptom is associated as a list in the item table 217b. The display shaping unit 210b shapes the third object 610 with reference to the item table 217b for the selected advice for the abnormal walking symptom. However, the display shaping unit 210b does not arrange and display the corresponding third objects 610 in the advice window 600 in the order described in the item table 217b. In the present embodiment, the display shaping unit 210b, regarding the advice for improving the selected abnormal gait symptom (“pelvic recession” in FIG. 8), is based on other determination results of the abnormal gait determined by the determination unit 210a. Advice for improving abnormal gait symptoms (in Fig. 8, “backward tilt of the trunk”, “excessive knee joint flexion”, “difficulty in starting out”, and “rapid extension of the knee joint”) is prioritized. indicate. The display order of each third object 610 shown in FIG. 8 is determined in this way.

The procedure for determining the display order will be described below. FIG. 9 is a diagram showing a list of abnormal gait symptoms detected in the example of FIG. 8 and methods for improving them. The illustrated list corresponds to only the portion related to the abnormal gait symptom detected from the item table 217b. For example, for the abnormal gait symptom “pelvic recession,” eight advices on how to improve (“restrict plantar flexion to dorsiflexion”, “restrict dorsiflexion to dorsiflexion”, “increase body weight offload”, “knee extension assist”, etc.) "Increase", "Decrease in swing assist", "After adjustment in front and back of swing", "Foot FB foot pattern", and "Outside leg load-free position") are associated with each other.

FIG. 10 is a diagram for explaining the processing until the display mode of the improvement method is determined. FIG. 4 is a diagram showing; The first associated advice is "restrict plantar flexion to dorsiflexion". ” is also common. Therefore, the number of overlaps with other symptoms is set to "4". The second tip is "Limit Dorsiflexion To Dorsiflexion", but this tip is not common with other symptoms. Therefore, the number of overlaps with other symptoms is set to "1". Similarly, the overlap number of the third piece of advice, “increase body weight exemption,” is “1”. The fourth advice, "increase knee extension assist", is common to "excessive knee joint flexion" and "abrupt knee extension", so the overlap number is "3". Counting in the same way, the number of repetitions of the fifth advice, ``decrease the starting assist'', is ``1'', and the number of overlaps of the sixth advice, ``after adjustment before and after the start'', is ``2''. , the overlap number of the seventh advice "Foot FB foot shape" is "2", and the overlap number of the eighth advice "Legs out of unloading position" is "1".

From these analysis results, the larger the number of overlaps, the higher the display order. Specifically, the display order "1" is assigned to "restrict plantar flexion to dorsiflexion" having the largest overlap number, and the display order "2" is assigned to "knee extension assist increase" having the second largest number of overlaps. If the display order is given for the same number of overlaps in the order of the list, the display order from 1 to 8 is determined as shown. The display shaping unit 210b arranges and displays the third objects 610 generated for each piece of advice in the advice window 600 according to the display order thus determined. When displayed in this way, the operator 910 who is an assistant can determine which adjustment item, which is intricately interrelated among the detected abnormal gait symptoms, and how to adjust the abnormal gait symptom of the trainee 900. can be appropriately and immediately recognized if it can be improved.

In the above description, as an example of preferential display, an example in which common advice is displayed at a higher rank has been described. However, the example of preferential display is not limited to this, and the order may be directly displayed numerically, the advice window 600 may be made larger as the advice is prioritized, or the display may be conspicuous using animation. .

In FIG. 10, "Conflict with other improvement methods" indicates whether each piece of advice associated with the symptom of "pelvic recession" conflicts with advice associated with other detected symptoms. represents the analysis result. For example, referring to FIG. 9, the second advice "restrict dorsiflexion to dorsiflexion" is replaced with the advice "restrict dorsiflexion to dorsiflexion" corresponding to "excessive knee joint flexion". Conflicting. In other words, opposite adjustments are instructed for the same adjustment item. In such cases, efforts to improve one symptom may not improve the other, or may even worsen the other, so care should be taken when adopting this advice. In this way, if it conflicts with the advice associated with other symptoms, it is described as "yes", and if it does not conflict, it is described as "no".

The display shaping unit 210b superimposes and displays a caution icon 620 as shown in FIG. 8 on the third object 610 corresponding to the advice for which "yes" is described in the "conflict with other improvement methods" column. The operator 910 who is an assistant can determine which adjustment item to adjust after confirming the caution icon, thereby avoiding aggravation of a specific abnormal gait symptom without realizing it.

When the operator 910 taps the third object 610 on which the attention icon 620 is superimposed, the first abnormal walking symptom corresponding to the advice corresponding to the third object 610 among the detected abnormal walking symptoms is associated. The display modes of the object 510 and the second object 520 change. Further, when the first object 510 and the second object 520 of the abnormal walking symptom associated with the advice corresponding to the third object 610 and the advice conflicting with the detected abnormal walking symptom are in the same display mode, It changes to a different aspect than the aspect. FIG. 11 is a diagram showing a display example of an abnormal gait symptom displayed in such a changed display mode.

Specifically, FIG. 11 is a display example when the operator 910 taps the third object 610 indicating "after adjustment before and after starting" overlaid with a caution icon 620 from the display state shown in FIG. . Referring to FIG. 9, it can be seen that the advice "after adjusting the front and back of the swing" is also included as the advice for the abnormal gait symptom "excessive bending of the knee joint". Therefore, the display shaping unit 210b superimposes the first attribute icon 631 labeled "OK" on the peripheral portion of the first object 510 showing the abnormal gait symptom "excessive bending of the knee joint". By confirming the first attribute icon 631, the operator 910 recognizes that the abnormal gait symptom of "excessive bending of the knee joint" can be improved at the same time when the advice of "after adjusting the front and back of the swing" is adopted. can.

On the other hand, referring to FIG. 9, it can be seen that the abnormal gait symptoms "backward tilt of the trunk" and "difficulty in swinging" include the advice "before adjustment in front and back of swinging". Since the advice "Before adjusting the swing back and forth" conflicts with the advice "After adjusting the swing back and forth", the display shaping unit 210b displays the abnormal gait symptoms "backward tilt of the trunk" and "difficult to swing", respectively. A second attribute icon 632 labeled “NG” is superimposed on the periphery of the first object 510 . By confirming the second attribute icon 632, the operator 910 can improve the abnormal gait symptoms of "backward inclination of the trunk" and "difficulty in starting" when the advice of "after adjustment in front and back of starting" is adopted. may not contribute or may exacerbate symptoms. That is, the operator 910 can comprehensively determine whether or not to adopt the advice by confirming the abnormal gait symptom on which the first attribute icon 631 and the second attribute icon 632 are superimposed.

In the above example, the case where the third object 610 on which the attention icon 620 is superimposed is tapped has been described. An attribute icon 631 may be superimposed. That is, the first attribute icon 631 may be superimposed on the periphery of the first object 510 or the second object 520 showing the abnormal gait symptom including the same advice as the advice indicated by the third object 610 .

Also, in the above example, the example of superimposing the first attribute icon 631 or the second attribute icon 632 was explained as one of the changes in the display mode of the first object 510 and the second object 520. is not limited to For example, if the same advice is included, the object itself may be highlighted in a bluish color tone, and if conflicting advice is included, the object itself may be highlighted in a reddish color tone. A display effect using scaling or animation may be employed.

Next, control processing for a series of training trials will be described. FIG. 12 is a diagram showing the processing flow in a series of training trials. The overall control unit 210 starts a training trial according to a training menu specified by the operator 910 or the trainee 900 in step S101. When the training trial starts, the overall control unit 210 acquires the training status in step S102. Specifically, captured images captured by the front camera unit 141 and the side camera unit 142 are captured, image processing is performed by the image processing unit 216, and analysis processing for analyzing the gait is also performed. Also, an output signal from the load sensor 222 or the like is acquired. Proceeding to step S103, the determination unit 210a determines abnormal gait of the trainee 900 using the training situation acquired in step S102. Specifically, it is determined whether or not one of the plurality of abnormal gait symptoms set in advance as described above applies. In particular, for the specific abnormal gait symptom, it is also determined whether the measurement result of the measurement target is included in the KP hierarchy or the KR hierarchy.

The display shaping unit 210b updates the display of the training monitor 138 and the management monitor 139 via the display control unit 213 in step S104. Specifically, the training monitor 138 updates the status area 310 according to the progress of the training trial, and updates the camera image 320 according to the output of the front camera unit 140 or the side camera unit 141 . In particular, when abnormal gait is determined in step S103, the first object 510 or the second object 520 is shaped according to the detected abnormal gait symptom, as described with reference to FIG. Display on the periphery. As for the management monitor 139, in addition to the same update as the training monitor 138, more detailed information about the abnormal gait symptom may be displayed.

In step S105, the general control unit 210 determines whether or not the scheduled training trials have ended. If it is determined that the processing has not ended, the process returns to step S102. If it is determined that the processing has ended, the process proceeds to step S106.

Proceeding to step S106, the display shaping unit 210b summarizes the determination result of the abnormal walking symptom determined during the training trial by the determination unit 210a. It is displayed in the mode shown in FIG.

The operation accepting unit 212 accepts an operation of the touch panel 142 by the operator 910 in step S107. Overall control unit 210 acquires a reception signal from operation reception unit 212 and determines whether one of first object 510 and second object 520, which is the determination result displayed on management monitor 139, has been selected. to decide. If it is determined that it has been selected, the process proceeds to step S108, and if it is determined that it has not been selected, the process skips to step S111.

Proceeding to step S108, the display shaping unit 210b displays advice for improving the abnormal gait symptom related to the selected object. FIG. 13 is a flowchart for explaining in detail the processing flow regarding display of improvement advice in step S108. In step S1081, the display shaping unit 210b extracts advice associated with the abnormal gait symptom associated with the selected object. Subsequently, the process proceeds to step S1082, and advice associated with other abnormal walking symptoms determined during the training trial is extracted from the item table 217b.

Proceeding to step S1083, the display shaping unit 210b determines whether each piece of advice associated with the abnormal gait symptom associated with the selected object is common to the advice extracted in step S1082. Count duplicates as described. Subsequently, the process advances to step S1084 to determine the display order according to the number of overlaps. In step S1085, the display shaping unit 210b checks whether or not the advice extracted in step S1082 includes advice that conflicts with the advice associated with the abnormal gait symptom related to the selected object. After completing these processes, the display shaping unit 210b proceeds to step S1086, and displays advice for improving the abnormal gait symptom related to the selected object in the manner shown in FIG.

Return to FIG. The operation accepting unit 212 accepts an operation of the touch panel 142 by the operator 910 in step S109. The overall control unit 210 acquires a reception signal from the operation reception unit 212 and determines whether or not any of the third objects 610 displayed on the management monitor 139 has been selected. If it is determined that the item has been selected, the process proceeds to step S110, and if it is determined that the item has not been selected, the process skips to step S111.

Proceeding to step S110, the display shaping unit 210b, as shown in FIG. A first attribute icon 631 labeled “OK” is superimposed on 520 . Also, a second attribute icon 632 marked with "NG" is superimposed on the first object 510 and the second object 520 of the abnormal gait symptom associated with the advice that conflicts with the advice related to the selected third object 610. .

In step S111, overall control unit 210 confirms whether or not an end instruction has been received from trainee 900 or operator 910. FIG. If no instruction has been received, the process returns to step S106. If the instruction has been accepted, the series of processing ends.

In the embodiment described above, selection of one first object 510 or second object 520 is accepted, and advice for improving the abnormal gait symptom is prioritized in accordance with advice for other abnormal gait symptoms. An example of displaying the However, not limited to this, a function has been added to accept the selection of multiple objects and display common advice to improve those abnormal walking symptoms with priority given to advice common to other abnormal walking symptoms. You can If such a display mode is also supported, the operator 910 can appropriately adjust the adjustment items when it is desired to simultaneously improve a plurality of abnormal gait symptoms.

In addition, since there are cases where some advice greatly contributes to the improvement of the abnormal gait symptoms and others do not, set the importance of each advice and change the priority according to the importance. You can For example, it is preferable to set the importance of “Increased knee extension assist” that exerts a tensile force on the trainee 900 to be higher than “Foot FB Foot type” that remains displayed on the training monitor 138 . Alternatively, the display format may be changed according to the importance instead of reflecting the priority. For example, advice with higher importance is displayed larger. In this way, by setting the importance of each piece of advice and changing the display mode, the operator 910 can easily adopt more effective advice.

Also, the priority of each piece of advice may be changed in consideration of the past display history. For example, a tip that has been displayed multiple times for previous training trials is deprioritized. The past display history is recorded in the trainee information DB 217a which is updated each time a training trial is performed. Alternatively, instead of reflecting the priority order, the display format may be changed according to the past display history. For example, the more often the advice is displayed, the smaller it is displayed. By recording the display history for each piece of advice in this manner and changing the display mode according to the display history, the operator 910 can easily adopt more effective advice.

Next, a user interface for character input on the management monitor 139 will be described. FIG. 14 is a diagram showing a display example of an input screen including character input items. The illustrated input screen is a new trainee registration screen, and is a display example before character input is required. The new registration screen is composed of a first frame 710 and a second frame 720 . A first frame 710 includes graphics 711 representing a human figure and various input windows 712 . The second frame 720 includes two operation buttons 721, "determine" for deciding the input and "cancel" for canceling the input. In such a display state, when the operator 910 taps, for example, the input window 712 for "physician in charge", the display screen changes to a character acceptance state for entering the name of the doctor in charge.

FIG. 15 is a diagram showing a display example of a character acceptance state for accepting character input. As illustrated, the first frame 710 and the second frame are compressed vertically and slide upward on the screen. A third frame 730 is provided in the resulting surplus area.

As the vertical width of the first frame 710 is compressed, the graphics 711 and the input window 712 included in the first frame 710 are also vertically compressed. Also, most of the top and bottom margins of the first frame 710 that existed before transitioning to the character accepting state are removed. On the other hand, a new text window 713 appears for the "physician in charge" to be entered.

Since the two operation buttons 721 included in the second frame 720 are to be operated even in the character reception state, they are not vertically compressed and maintain their shape. However, most of the top and bottom margins of the second frame 720 that existed before transitioning to the character accepting state are removed.

A soft keyboard 731 is displayed in the third frame 730 . The operator 910 can input characters by tapping each key on the soft keyboard 731 . After completing the character input, tap the operation button 721 of "determine" to confirm the input. By adopting such a character input user interface, the operator 910 can correctly recognize necessary information and can input characters more easily.

Although the walking training device 100 has been described above as an example of a walking training system, the walking training system may not have a configuration in which all of the respective functional elements are integrated into the walking training device 100 . For example, at least one of the functions of the determination unit 210a and the display shaping unit 210b for determining abnormal gait may be performed by a calculation unit provided in a server connected to the walking training device 100 via a network. In this case, the server transmits the determined result and the shaped display image data to the walking training device 100 . The overall control unit 210 of the walking training device 100 uses the sent determination result and display image data to realize the same display as in the above-described embodiment. Thus, the walking training system may be configured to include the server and the walking training device 100 .

100 walking training device, 110 safety equipment, 111 harness wire, 112 harness tensioning part, 120 walking assistance device, 121 control unit, 122 upper leg frame, 123 lower leg frame, 124 foot frame, 126 adjustment mechanism, 127 front side connection frame, 128 rear connection frame, 129 upper thigh belt, 130 frame, 130a handrail, 131 treadmill, 132 belt, 133 control panel, 134 front wire, 135 front tension section, 136 rear wire, 137 rear tension section, 138 training monitor, 139 management monitor, 140 front camera unit, 141 side camera unit, 142 touch panel, 210 overall control unit, 210a determination unit, 210b display shaping unit, 211 treadmill drive unit, 212 operation reception unit, 213 display control Unit 214 Tension drive unit 215 Harness drive unit 216 Image processing unit 217 Storage unit 217a Trainee information DB 217b Item table 219 Communication connection IF 220 Auxiliary control unit 221 Joint drive unit 222 Load sensor 223 angle sensor, 229 communication connection IF, 310 status area, 320 camera image, 501, 502 scroll bar, 510, 510' first object, 511 symptom title, 512 KR index, 513 SUM index, 520, 520' second object , 521 symptom title, 523 KP index, 600 advisory window, 610 third object, 611 advisory title, 620 attention icon, 631 first attribute icon, 632 second attribute icon, 710 first frame, 711 graphics, 712 input window. , 713 text window, 720 second frame, 721 operation button, 730 third frame, 731 soft keyboard, 900 trainee, 910 operator

Claims (10)

a treadmill that encourages walking of the trainee;
a determination unit that determines abnormal gait of the trainee walking on the treadmill based on a plurality of predetermined abnormal gait symptoms;
A display unit that displays the determination result by the determination unit,
The determination unit determines that, of the plurality of abnormal gait symptoms, a specific abnormal gait symptom having a first level that may lead to a fall and a second level that does not have a possibility of leading to a fall, the determined abnormal gait is the above. Determine whether it corresponds to the first hierarchy or the second hierarchy,
When displaying the determination result of the specific abnormal gait symptom, the display unit displays the frequency corresponding to the first hierarchy and the total frequency corresponding to either the first hierarchy or the second hierarchy. A walking training system that displays integrally. 2. The walking training system according to claim 1, wherein the display unit displays the frequency corresponding to the first hierarchy numerically and the total frequency corresponding to either the first hierarchy or the second hierarchy graphically. The display unit displays the total frequency of abnormal gait symptoms that are not the specific abnormal gait symptom among the plurality of abnormal gait symptoms and that correspond to either the first hierarchy or the second hierarchy of the specific abnormal gait symptom. 3. The gait training system according to claim 1 or 2, wherein the corresponding frequency is displayed in the same mode as the display mode. 4. The walking training system according to any one of claims 1 to 3, wherein the display unit updates the display of the determination result in accordance with progress of the training trial. wherein, while the training trial is in progress, the display unit displays only a part of the judgment results of the specific abnormal gait symptom among the judgment results of the plurality of abnormal gait symptoms, giving priority to the judgment result of the specific abnormal gait symptom; Item 5. The walking training system according to item 4. The determination unit determines which of the plurality of categories classified according to the degree of gait abnormality of the second layer corresponds to,
The walking training system according to any one of claims 1 to 5, wherein the display unit also displays frequencies corresponding to each of the plurality of categories. 7. The display unit according to any one of claims 1 to 6, wherein when all of the determination results for each of the plurality of abnormal walking symptoms are displayed, the display unit preferentially displays the determination result for the specific abnormal walking symptom. gait training system. When one of the displayed determination results corresponding to each of the plurality of abnormal gait symptoms is selected, the display unit displays advice regarding an adjustment item for improving the gait abnormality of the selected abnormal gait symptom. The walking training system according to any one of claims 1 to 7. A display method for displaying a determination result of abnormal gait on the display unit in a walking training system comprising a treadmill that encourages a trainee to walk, a display unit , and a control unit ,
a determination step of determining abnormal gait of the trainee walking on the treadmill by the control unit based on a plurality of predetermined abnormal gait symptoms;
a display step of displaying a determination result of the determination step on the display unit by the control unit ;
In the determination step , among the plurality of abnormal gait symptoms, among the plurality of abnormal gait symptoms, a specific abnormal gait symptom having a first level that may lead to a fall and a second level that does not have a possibility of leading to a fall is determined. Determine whether the abnormal gait corresponds to the first hierarchy or the second hierarchy,
In the display step, when displaying the determination result of the specific abnormal gait symptom, the control unit controls the frequency of the first hierarchy and the frequency of the first hierarchy and the first hierarchy or the second hierarchy. A display method for integrally displaying the total frequency on the display section . A display program for displaying a determination result of abnormal gait on the display unit in a walking training system comprising a treadmill that encourages a trainee to walk and a display unit,
a determination step of determining abnormal gait of the trainee walking on the treadmill based on a plurality of predetermined abnormal gait symptoms;
causing a computer to execute a display step of displaying the determination result of the determination step on a display unit;
In the determination step, for a specific abnormal gait symptom having a first level that may lead to a fall and a second level that may not lead to a fall among the plurality of abnormal gait symptoms, the determined abnormal gait is determined as described above. Determine whether it corresponds to the first hierarchy or the second hierarchy,
In the display step, when displaying the determination result of the specific abnormal gait symptom, the frequency corresponding to the first hierarchy and the total frequency corresponding to either the first hierarchy or the second hierarchy are displayed. A display program that displays integrally.

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